humanMovementActuator.h

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



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include <vrfobjcore/actuatorComponent.h>
#include "vrfobjcore/humanLocalObjectFacade.h"
#include "vrfutil/lifeformStaticPostures.h"
#include <map>

class DtInputPortGroup;
class DtAnalogInputPort;
class DtVrfMovingObjectStateRepository;
class DtHumanStateRepository;
class DtIntegerInputPort;
class DtHumanMovementActuatorDescriptor;
class DtAttachedTerrain;
class DtBooleanInputPort;
class DtUpdateRepositoryOutputPortGroup;
class DtAnalogOutputPort;
class DtVectorInputPort;
class DtHumanMovementActuatorPSR;
class DtVrfChordIntersectRecordList;
class DtVrfChordIntersectionRecord;

class DT_DLL_vrfmodel DtHumanMovementActuator : public DtActuatorComponent
{
private:
   DtHumanMovementActuator& operator=(const DtHumanMovementActuator& orig);
   DtHumanMovementActuator(const DtHumanMovementActuator& orig);

public:

   typedef std::map<DtLifeformStaticPosture, DtLifeformState> 
      DtStaticToDynamicPostureMap;

public:
   DtHumanMovementActuator(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtHumanMovementActuator();

   virtual bool init();

   virtual const char* type() const;

   virtual bool createPSR();

   virtual void preFirstTickInit();

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

protected:
   virtual double calculateMaxSpeed();

   virtual double maxSpeedFromFacingError(const double desiredHeading,
      const double currentHeading) const;

   virtual double maxSpeedSoilFactor() const;

   virtual DtVector calculateProjectedLocation(
      const DtVector& oldLocalPosition, const DtVector& newBodyVelocity,
      double newHeading, double dt = -1);

   virtual void calculateOrientationAndPosition(
      const DtVector& newLocalProjectedLocation, double newHeading, double newFacingOrientation,
      DtDcm& newLocalOrientation, DtDcm& newLocalDirectionOfMovement, DtVector& newLocalPosition);

   virtual void identifySupportSurfaceAndAltitude(
      const DtVector& testPosition,
      const double altOfTestPosition,
      const DtVector& stepUpVector,
      const double bodyHeight,
      DtSurface& interactionSurface,
      double& adjustedAltitude);

   virtual double stepUpFractionLimit() const;

   virtual double underWaterFraction() const;

   virtual double dropSpeed() const;

   
   virtual double altitudeForNoTerrainBelow(double projectedPointAlt,
      DtVector projectedPoint,
      double surfacePointAlt) const;

   virtual double altitudeForDropToSurface(double projectedPointAlt,
      DtVector projectedPoint,
      double surfacePointAlt) const;

   virtual double altitudeForNearbySurface(double projectedPointAlt,
      DtVector projectedPoint,
      double surfacePointAlt) const;

   virtual double altitudeForNoSurface(double projectedPointAlt,
      DtVector projectedPoint) const;


   virtual void updateRepository(const DtVector & position,
      const DtVector & velocity, const DtVector & acceleration,
      const DtTaitBryan & localOrientation, const DtVector& rotationalVelocity,
      double newHeading);

   virtual void computeAndSetPosture();

   virtual DtLifeformState computeDynamicPosture(DtLifeformStaticPosture staticPosture);

   virtual DtLifeformStaticPosture restrictPostureForTerrain(DtLifeformStaticPosture desiredPosture);

   virtual bool checkForTerrainCollisions() const;

   virtual bool checkForEntityCollisions() const;

   virtual bool checkBlockedByTerrain(const DtVector& oldLocalPosition,
      DtVector& newLocalProjectedLocation, double heightFraction = -1.0);

   virtual bool checkBlockedByEntities(const DtVector& oldLocalPosition,
      DtVector& newLocalProjectedLocation);

   virtual DtChord movementChord(const DtVector& oldLocalPosition, const DtVector& newLocalProjectedLocation,
      DtVector& intersectionVec, DtVector& bvCenterStartFromOldPos);

   virtual DtChord movementChordAtHeight(const DtVector& oldLocalPosition, const DtVector& newLocalProjectedLocation,
      double heightFraction, DtVector& intersectionVec, DtVector& offsetFromOldPosition);

   virtual double maxUprightTerrainPitch() const;

   virtual double maxWalkingSpeed() const;

   virtual void initializeStaticToDynamicPostureMap();

   virtual bool computeEntityDirOfMovement(double& heading) const;

   virtual double calculateTerrainPitch(const DtVector& localPosition, 
      double heading, const DtAttachedTerrain& terrain);

   virtual bool createPorts();

   virtual bool createPortGroups();

   virtual bool getSurfacesBelow(const DtVector& testPosition,
      double underWaterLimit,
      const DtAttachedTerrain* terrain,
      DtVrfChordIntersectRecordList& intList,
      bool& dataAvailable);

   virtual bool closestSurfaceAbove(const DtVector& testPosition,
      const DtAttachedTerrain* terrain,
      double &altitude, DtSurface &surface);

   virtual bool isWater(const DtSurface & surface);

   static void setHeadingCallback(DtSimMessage * msg, void * usr);
   virtual void processSetHeading(DtSimMessage* msg);

   static void setGroundClampFidelityCallback(DtSimMessage * msg, void * usr);
   virtual void processGroundClampFidelity(DtSimMessage* msg);

   virtual bool checkAndDisembarkIfEmbarked(const DtVector& localPosition);

   virtual bool checkIfMoveOntoEmbarked(const DtVector& localPosition);

   virtual bool initializeAglPort();

   virtual void setTerrainUpdateFlagsBasedonDataAvailable(bool dataAvailable);


   virtual void calculateOrientationAndPositionCrawling(
      const DtVector& newLocalProjectedLocation, double newHeading, double newFacingOrientation,
      DtDcm& newLocalOrientation, DtDcm& newLocalDirectionOfMovement, DtVector& newLocalPosition);

   virtual void groundClamp(double heading,
      const DtVector& location, DtAttachedTerrain& terrainDatabase, DtVector& newNormal);

   virtual void calculateDirectionOfLinearMotion(
      const DtDcm& newLocalOrientation, double desiredDirectionOfMovement, const DtVector& newLocalPosition,
      DtDcm& newLocalDirectionOfLinearMotion);

   virtual bool closestIntersectionWithBias(const DtVector& localPosition, DtVrfChordIntersectionRecord& record,
      DtIntersectionRecord::DtIntersectionType irtFlag, double bias,
      const DtAttachedTerrain* terrain);


   static void terainChangeNotification(const DtExtent& spatExtent, void* usr);
   
   void processTerrainChangeNotification(const DtExtent& spatExtent);


protected:

   DtAnalogInputPort* myMovementDirectionInputPort;

   DtAnalogInputPort* myFacingDirectionInputPort;

   DtAnalogInputPort* mySpeedInputPort;

   DtInputPortGroup* myMovementControlInputPortGroup;

   DtIntegerInputPort* myDesiredStaticPostureInputPort;

   DtVectorInputPort* myDestinationInputPort;

   DtBooleanInputPort *myPostureChangingPort;

   DtIntegerInputPort* myOverrideGroundClampFidelityPort;

   
   DtAnalogOutputPort* myAltitudeAglOutputPort;

   DtVrfMovingObjectStateRepository* myMovingObjectStateRepository;
   DtHumanStateRepository* myHumanStateRepository;

   DtHumanMovementActuatorPSR* myProcessState;

   mutable double myMutablePitch;
   mutable bool myMutablePitchValid;

   DtVector myLastParentPosition;

   DtStaticToDynamicPostureMap myStaticToDynamicPostureMap;

   const DtHumanMovementActuatorDescriptor* myHumanMovementActuatorDescriptor;

   bool myPreviouslyEmbarked;

   bool myWasOnGround;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

   double myDesiredFacingDirection;
   bool myUseDesiredFacingDirectionValue;

   DtUUID myWasJustEmbarkedOn;

   bool myAglPortInitialized;
   DtVector myCachedPosition;

   DtVector myPreviousDestination;


   bool myPostureChanging;
   double myPostureSpeed;

   DtHumanLocalObjectFacade myHumanLocalObjectFacade;

   bool myTerrainUpdateTriggeredFlag;

   bool myDataUnavailableOnTerrainUpdate;
};