DtEntityWheelUpdater.h

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/******************************************************************************
** Copyright (c) 2024 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/


#pragma once
#include <vrvOsg/DtEntityWheelData.h>

#include <vrvCore/DtTickable.h>

#include <unordered_map>

namespace makVrv
{
   class DtOsgArticulatedModel;
   class DtCoordinateSystem;
   class DtSceneObject;
   class DtDeadReckonUpdater;

   struct DtAckermanSteeringVelocity
   {
   public:
      DtAckermanSteeringVelocity();
   public:
      double myFirstSetVelocity;
      double mySecondSetVelocity;
   };

   struct DtSkidSteeringSpeed
   {
   public:
      DtSkidSteeringSpeed();
   public:
      double myLeftSpeed;

      double myRightSpeed;

      double mySpeed;
   };

   class DT_DLL_VRVOSG DtEntityWheelUpdater : public DtTickable
   {
   public:
      DtEntityWheelUpdater(DtDe& de);

      virtual ~DtEntityWheelUpdater();

   private:
      DtEntityWheelUpdater() = delete;
      DtEntityWheelUpdater(const DtEntityWheelUpdater &) = delete;
      DtEntityWheelUpdater &operator=(const DtEntityWheelUpdater &) = delete;

   public:
      virtual void update(DtTime tNow);

      virtual void setWheelData(std::unordered_map<DtOsgArticulatedModel*, DtEntityWheelData>* wheelMap);

   protected:
      virtual void updateWheels(DtTime tNow);

      virtual void updateWheels(DtTime tNow, DtOsgArticulatedModel* model, DtEntityWheelData& wheelData, bool vrvWheelRotationEnabled) const;

      virtual bool calculateVelocity( DtSceneObject* sceneObject, DtDeadReckonUpdater* updater, DtEntityWheelDataCommon& wheelDataCommon, DtTime tNow) const;

      virtual bool calculateHeading( DtSceneObject* sceneObject, DtDeadReckonUpdater* updater, DtEntityWheelDataCommon& wheelDataCommon, DtTime tNow) const;

      virtual float calculateDistanceBetweenWheelAxles(DtOsgArticulatedModel* model, int firstSet, int secondSet) const;

      virtual bool hasAckermanSteering(DtOsgArticulatedModel* model) const;

      virtual bool hasSkidSteering(DtOsgArticulatedModel* model) const;

      virtual bool hasArticulatedWheels(DtOsgArticulatedModel* model) const;

      virtual int numSetOfWheels(const DtEntityWheelData& wheelData) const;

      virtual DtAckermanSteeringVelocity calculateAckermanSteeringVelocity(DtTime tNow, DtOsgArticulatedModel* model, DtEntityWheelData& wheelData, double speed) const;

      virtual DtSkidSteeringSpeed calculateSkidSteeringSpeeds(DtTime tNow, DtOsgArticulatedModel* model, DtEntityWheelData& wheelData ) const;

      virtual bool hasTracks(DtOsgArticulatedModel* model) const;

      virtual float calculateTrackWidth(DtOsgArticulatedModel* model) const;

      virtual void printWheelDetails(DtOsgArticulatedModel* model, const DtVector& currVel, int partNum
         , double speed, double angVel) const;

      virtual void updateWheelsAckerman(DtTime tNow, DtOsgArticulatedModel* model, DtEntityWheelData& wheelData, bool vrvWheelRotationEnabled ) const;

      virtual DtSkidSteeringSpeed updateWheelsSkid(DtTime tNow, DtOsgArticulatedModel* model, DtEntityWheelData& wheelData, bool vrvWheelRotationEnabled ) const;
      
      virtual bool isReversing( const DtVector& entityVelocity, const DtTaitBryan& entityHeading ) const;

      virtual void slot_coordinateSystemChanged();

      virtual void findSceneObjectAndUpdater( DtOsgArticulatedModel* model, DtSceneObject*& sceneObject, DtDeadReckonUpdater*& updater ) const;
   protected:
      DtDe& myDe;
      // local clone of the system wide coordinate system.
      // for thread safety.
      DtCoordinateSystem* myCoordinateSystem;
      bool myShouldRotate;

      std::unordered_map<DtOsgArticulatedModel*, DtEntityWheelData>* myEntityWheelMap;
   };
}