humanFleeController.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 "vrfobjcore/humanLocalObjectFacade.h"
#include <vrfNavigation/navArea.h>

class DtHumanFleeControllerDescriptor;
class DtActiveBotNavInterface;
class DtScriptedTaskTask;
class DtHumanStateRepository;
class DtHumanFleePSR;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtBooleanOutputPort;
class DtIntegerOutputPort;

class DT_DLL_vrfmodel DtHumanFleeController : public DtSingleTaskControllerComponent
{
private:
   DtHumanFleeController();
   DtHumanFleeController(const DtHumanFleeController& orig);
   DtHumanFleeController& operator=(const DtHumanFleeController& orig);
public:
   DtHumanFleeController(const DtString& name, DtLocalObject* owner,
      DtSimulationServices* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtHumanFleeController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

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

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

protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual bool usingNavBot() const;

   virtual void processFleeTask(DtSimMessage * msg);

   virtual void registerTaskMsgCallbacks();

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

   virtual std::list<DtVector> getFleeFromPoints(DtScriptedTaskTask*);

   virtual double getFleeRadius(DtScriptedTaskTask*);

   virtual bool atDestination();

   virtual void doMoving();

   virtual double findDesiredSpeed();

   virtual double findDesiredHeading();

   virtual void stop(bool success);

   virtual void clearTask();
 
   virtual DtVector findFleeToPoint(double radius, const std::list<DtVector>& localFrom);

   virtual double fleePointMaxCost(const std::list<DtVector>& fleeFromPtList, const DtVector& fleeToPt,
      double maxFleeDist, bool collision);

   virtual double fleePointCost(const DtVector& fleeFromPt, const DtVector& fleeToPt,
      double maxFleeDist, bool collision);

   virtual bool pointsMoved(const std::list<DtVector>& pts1, const std::list<DtVector>& pts2, double threshhold);

   virtual void processObjectRemoved();

   virtual void processFleeTask(DtScriptedTaskTask*);

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

   virtual bool entityInDestination(const DtVector& dest);

   virtual void updateTaskVisualizations();

   virtual void processNavigationInterfaceChanged();

   virtual bool isRecentlyVisitedFleePoint(const DtVector& localPoint);

protected:
   DtHumanFleeControllerDescriptor* myHumanFleeControllerDescriptor;
   DtActiveBotNavInterface* myNavInterface;
   bool myIgnoreNavData;
   const DtHumanStateRepository* myHumanSR;

   DtHumanFleePSR* myProcessState;

   bool mySetupFromTaskWhenCan;
   std::list<DtVector> myCachedFleeFromPoints;

   typedef std::pair<DtVector, double> PointAndCost;
   std::vector<PointAndCost> myCandidateFleeToPoints;



   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;

   DtBooleanOutputPort* myIsMovingPort;

   DtBooleanOutputPort* myUseCollisionAvoidancePort;

   DtIntegerOutputPort* myOverrideGroundClampFidelityPort;


   bool myWasTasked;
   double myNextFleeCalcTime;

   std::list<DtVector> myRecentlyVisitedFleePoints;

   double myFleeEndRadiusFactor;

   boost::signals2::scoped_connection myRemovalConnection;

   DtHumanLocalObjectFacade myHumanLocalObjectFacade;
};