environmentalLocationStateComponent.h

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/*******************************************************************************
** Copyright (c) 2020 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfStateData/locationStateComponent.h"
#include <legionStandardOM/sets/readEnvironmentProcessRepository.hpp>
#include <legionStandardOM/sets/writeEnvironmentProcessRepository.hpp>
#include <tbb/mutex.h>

class Coordinate_System;

namespace makVrf
{
   class DtStateDataManager;
   struct DtEnvironmentalLocationStateComponentData
   {
      DtEnvironmentalLocationStateComponentData()
      : myFrozen(false)
      {};

      DtEnvironmentalLocationStateComponentData(const DtEnvironmentalLocationStateComponentData& orig)
      : myFrozen(orig.myFrozen)
      {
      }

      DtEnvironmentalLocationStateComponentData& operator=(const DtEnvironmentalLocationStateComponentData& rhs)
      {
         myFrozen = rhs.myFrozen;

         return *this;
      }

      DEFINE_ACCESSOR_MUTATOR(bool, frozen, Frozen)

   protected:
      bool myFrozen;
   };

   class DT_DLL_vrfStateData DtEnvironmentalLocationStateComponent : public DtLocationStateComponent
   {
   public:
      DEFINE_STATE_COMPONENT_TYPE(DtStateComponent::EntityLocationStateComponent)

      DtEnvironmentalLocationStateComponent(DtStateData* storage)
      : DtLocationStateComponent(storage)
      , myCenterPositionColumn(0xFFFFFFFF)
      , myOrientationColumn(0xFFFFFFFF)
      {
      }

   protected:
      DtEnvironmentalLocationStateComponentData myData;
      UInt32 myCenterPositionColumn;
      UInt32 myOrientationColumn;
   };

   class DT_DLL_vrfStateData DtEnvironmentalLocationStateComponentNextFrame : public DtEnvironmentalLocationStateComponent
   {
   public:
      DtEnvironmentalLocationStateComponentNextFrame(DtStateData*);
      virtual ~DtEnvironmentalLocationStateComponentNextFrame();

      const DtEnvironmentalLocationStateComponentData& frameState() const { return myData; };
      DtEnvironmentalLocationStateComponentData& frameState() { return myData; };
   
      const DtUUID& hostGlobalId() const;
      void setHostGlobalId( const DtUUID& id);

      const DtVector location() const;
      void setLocation(const DtVector&);

      const bool locationChanged() const;

      const double heading() const;
      const double pitch() const;
      const double roll() const;

      const DtVector& worldPosition() const;
      const DtVector& relativePosition() const;
      const DtVector& parentPosition() const;
      const DtVector& localPosition() const;
      const DtDcm& worldOrientationMatrix() const;
      const bool localPositionIsValid() const;
      const bool frozen() const;
      void setFrozen(const bool&);

      const DtDcm& parentOrientationMatrix() const;
      void setLocalOrientationMatrix(const DtDcm&);

      const DtDcm& localOrientationMatrix() const;

      void setLocalPosition(const DtVector&);
      void setWorldPosition(const DtVector&);
      void setParentPosition(const DtVector&);
      void setWorldOrientationMatrix(const DtDcm&);

      const DtTaitBryan orientation() const;
      void setOrientation(const DtTaitBryan&);

      const DtTaitBryan& worldOrientation() const;
      const DtTaitBryan& topographicOrientation() const;
      const DtTaitBryan& parentOrientation() const;
      const DtTaitBryan& localOrientation() const;

      void setLocalOrientation(const DtTaitBryan&);
      void setLocalOrientationWrtDatabase(const DtTaitBryan&);
      const DtTaitBryan& localOrientationWrtDatabase() const;
      void setWorldOrientation(const DtTaitBryan&);
      void setParentOrientation(const DtTaitBryan&);

      void setCoordinateSystem(const Coordinate_System* cs);
      void setKinematicState(const DtRwVrfKinematicState&);
      const DtRwVrfKinematicState& kinematicState() const;
      virtual void refreshKinematicState(const DtEnvironmentalLocationStateComponent&);

      const bool spatiallyFrozen() const;

      virtual void makeWritable();

      virtual void makeReadOnly();
      void slot_hostDestroyed();

   protected:
      LOM::WriteEnvironmentProcessRepository myWriteEnvironmentProcessRepository;
      DtStateData* myStateData;
      DtStateDataManager* myStateDataManager;
      DtRwVrfKinematicState* myKinematicState;
      boost::signals2::scoped_connection myHostDeletedConnection;
   };

   class DT_DLL_vrfStateData DtEnvironmentalLocationStateComponentCurrentFrame : public DtEnvironmentalLocationStateComponent
   {
   public:
      DtEnvironmentalLocationStateComponentCurrentFrame(DtStateData*);
      virtual ~DtEnvironmentalLocationStateComponentCurrentFrame();

      const DtEnvironmentalLocationStateComponentData& frameState() const { return myData; };
   
      const DtUUID& hostGlobalId() const;

      const bool localPositionIsValid() const;
      const DtVector location() const;

      const DtVector& worldPosition() const;
      const DtVector& relativePosition() const;
      const DtVector& parentPosition() const;

      const DtDcm& parentOrientationMatrix() const;

      const DtVector& localPosition() const;

      const DtDcm& worldOrientationMatrix() const;
      const DtDcm& localOrientationMatrix() const;
      const DtTaitBryan& localOrientationWrtDatabase() const;

      const double heading() const;
      const double pitch() const;
      const double roll() const;

      const DtTaitBryan orientation() const;
      const DtTaitBryan& worldOrientation() const;
      const DtTaitBryan& topographicOrientation() const;
      const DtTaitBryan& parentOrientation() const;
      const DtTaitBryan& localOrientation() const;
      const bool frozen() const;

      const bool locationChanged() const;

      void setCoordinateSystem(const Coordinate_System* cs);
      void refreshKinematicState() const;
      const DtRwVrfKinematicState& kinematicState() const;

      const bool spatiallyFrozen() const;

   protected:
      friend class DtEnvironmentalLocationStateComponentImplementation;
      void advanceFrame(const DtEnvironmentalLocationStateComponentData& data)
      {
         myData = data;
      }

      void setLocationChanged(bool);
      virtual void needsKinematicStateRefresh();

   protected:
      void handleDataUpdated(const std::vector<UInt32>& attributesUpdated);

   protected:
      const LOM::ReadEnvironmentProcessRepository myReadEnvironmentProcessRepository;
      bool myLocationChanged;
      DtStateDataManager* myStateDataManager;
      unsigned int myCallbackHandle;
      mutable tbb::mutex myKinematicStateMutex;
      mutable bool myNeedsKinematicStateRefresh;
      mutable DtRwVrfKinematicState* myKinematicState;

      DtStateData* myStateData;
   };

   class DT_DLL_vrfStateData DtEnvironmentalLocationStateComponentImplementation : public DtDoubleBufferedStateComponent<DtEnvironmentalLocationStateComponent>
   {
   public:
      DtEnvironmentalLocationStateComponentImplementation(DtStateData* sd);

      bool isDoubleBuffered() { return true; };
      const DtFrameStateInterface* currentFrameState() const { return &myCurrentFrameState; }
      virtual DtFrameStateInterface* nextFrameState() { return &myNextFrameState; };
      virtual const DtFrameStateInterface* nextFrameState() const { return &myNextFrameState; };

      virtual void setCoordinateSystem(const Coordinate_System*);

      virtual bool forceAdvance();

      void updateDataStorage();

      void updateStateData(DtStateData* sd)
      {
         myCurrentFrameState.updateStateData(sd);
         myNextFrameState.updateStateData(sd);
      }

      virtual void initializeFromParameters(const DtVrfObjectParameters* params);

      virtual void aboutToBeDeleted() override
      {
         DtDoubleBufferedStateComponent<DtEnvironmentalLocationStateComponent>::aboutToBeDeleted();
         myCurrentFrameState.aboutToBeDeleted();
         myNextFrameState.aboutToBeDeleted();
      }

   protected:
      DtEnvironmentalLocationStateComponentCurrentFrame myCurrentFrameState;
      DtEnvironmentalLocationStateComponentNextFrame myNextFrameState;
      DtVector myParentLocation;
   };

   typedef DtStateComponentCreator<DtEnvironmentalLocationStateComponentImplementation> DtEnvironmentalLocationStateComponentCreator;
}