navMovementActuator.h

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/*******************************************************************************
** Copyright (c) 2019 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfmodel/vrfmodelDefines.h"
#include <vrfobjcore/physicalWorld.h>
#include "vrfNavigation/persistentPointAlongHeadingQuery.h"
#include "vrfobjcore/movementLocalObjectFacade.h"

class DtNavArea;
class DtPersistentPointAlongHeadingQuery;
class DtObjectsCollectorInExtentQuery;
class DtNavMovementActuatorDescriptor;

class DT_DLL_vrfmodel DtNavMovementActuator : public DtActuatorComponent
{
public:

   //constructor
   DtNavMovementActuator(const DtString& name, DtLocalObject* object,
      DtSimulationServices* simManager, DtComponentDescriptor* compDescriptor,
      DtReaderWriterRegistry* parentRegistry = 0);

   //destructor
   virtual ~DtNavMovementActuator();

   //Perform any initialization required by the actuator
   virtual bool init();

   //Returns a string from compTypes.h, identifying the type of component
   virtual const char* type() const;

   //Calculate new kinematic state, and copy it to state repository
   virtual void tick();

protected:
   bool walk(const DtVector& currentPos, const double heading,
      const DtVector& currentVel,
      DtVector& newPos, double& newHeading,
      DtVector& newVel);
   bool calcNewDestination(const DtVector& navCurrentLocation, double currentHeading, double minDistance, bool allowRecurse = true);

   void adjustSpeedAndHeading(const double currentHeading, const DtVector& directionToDest, 
      const DtVector& currentVel, const DtVector& desiredVelocity,
      /* These are return values */ double& newHeading, DtVector& newVel);

   virtual bool taskVisualizationsActive() const;

   virtual void groundClamp(DtVector& localLocation);


   void avoidCollision(const DtEntityIdentifier entityId, const DtVector& localPosition, const DtVector& localDestination, const DtVector& localVelocity, DtVector& newLocalVelocity);

   void getNearestObjectsSpatialOrganization(const DtVector& location,
      const DtVector& velocityDirection,
      DtPhysicalWorld::DtVrfConstObjectUniqueContainer& objects);
   void getNearestObjectsPositionsNavMesh(const DtVector& location, std::vector<DtVector>& objLocations);

   DtPersistentPointAlongHeadingQuery::RestrictionMode restrictModeFromString(const DtString& restrictModeString);

protected:
   virtual void preFirstTickInit();
   virtual double adjustHeadingForBoundary(const DtVector& currentLocation, double maxMovementDistance, double currentHeading) const;

public:
   static DtSimComponent* creator(const DtString& name, DtLocalObject* object,
      DtSimulationServices* simManager, DtComponentDescriptor* compDescriptor,
      DtReaderWriterRegistry* parentRegistry);

protected:
   //const DtDieWhenHitDescriptor* myDieWhenHitDescriptor;
   DtNavArea* myNavArea;
   DtPersistentPointAlongHeadingQuery* myQuery;
   DtObjectsCollectorInExtentQuery* myObjectsQuery;
   DtVector myCurrentDestination;
   DtVector myNavCurrentDestination;
   bool myCurrentDestinationIsEdge;
   bool myDestinationValid;
   bool myHeadingIsChanging;
   double myHeadingToDestination;
   const DtNavMovementActuatorDescriptor* myNavMovementActuatorDescriptor;

   DtSimObjectReference myAnchor;
   DtVector myNavAnchorPosition;
   double myRadiusSquared;
   DtPhysicalWorld::DtVrfConstObjectUniqueContainer myObjects;
   double myTimeToRefreshObstacleObjects;
   DtMovementLocalObjectFacade myMovementLocalObjectFacade;
};