DtMultiDeadReckonUpdater.h

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/******************************************************************************
** Copyright (c) 2022 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/


#pragma once

#include <vrvCore/vrvCore.h>
#include <vrvCore/DtTickable.h>
#include <vrvCore/DtUniqueID.h>

#include <vlpi/disEnums.h>

#include <vector>
#include <string>

#include <boost/function.hpp>

#include <matrix/vlVector.h>

class DtTaitBryan;

namespace makVrv
{

   class DtDe;
   class DtMotionModel;
   class DtSceneObject;

   class DT_DLL_VRVCORE DtMultiDeadReckonUpdater : public DtTickable
   {
      typedef std::vector<DtMotionModel*> MotionModels;

   public:
      DtMultiDeadReckonUpdater(DtDe& de, DtUniqueID id );

      virtual ~DtMultiDeadReckonUpdater();

      virtual void update( DtTime tNow );

      virtual bool needsUpdate( DtTime tNow );

      virtual void setSceneObject( DtSceneObject* sceneObject );

      virtual void setInputPosition( unsigned int vtx, const DtVector& position );
      virtual void setInputPosition( unsigned int vtx, const DtVector& position, 
         double time);

      virtual void setInputOrientation(unsigned int vtx, const DtTaitBryan& ori );
      virtual void setInputOrientation(unsigned int vtx, const DtTaitBryan& ori, 
         double time );

      virtual void setVelocity( int vtx, const DtVector32& velo );

      virtual void setAcceleration( int vtx, const DtVector32& accel );

      virtual void setAngularVelocity( int vtx, const DtVector32& velo );

      virtual void setDeadReckoningSettings( bool pos, bool ori, bool velo );

      virtual void setSmoothingEnabled( bool enabled );

      virtual void setSmoothingPeriod( float period );

      virtual void updateSpacial( DtTime tNow );

      virtual void setMotionModel( const std::string& modelName );

      virtual DtMotionModel* motionModel( int vtx );

      virtual void setUseAbsoluteTimeStamping(bool);
      bool useAbsoluteTimeStamping() const;

      inline DtSceneObject* sceneObject()
      {
         return mySceneObject;
      }

      inline DtUniqueID uniqueId() const
      {
         return myUniqueId;
      }

   protected:
      DtMotionModel* createMotionModel( DtMotionModel* other );

      void applyToAllMotionModels(
         const boost::function<void (DtMotionModel*)>& func );

      virtual void slot_sceneObjectToBeDeleted( const DtUniqueID& id );

   protected:
      DtDe& myDe;

      DtUniqueID myUniqueId;

      DtSceneObject* mySceneObject;

      //  When the class is destructed, the scene object may or may not 
      // exist.  Using a separate connection variable makes it possible to
      // 'disconnect' even if the scene object has been deleted.
      boost::signalslib::connection mySceneObjectConnection;

      MotionModels myMotionModels;

      std::string myMotionModelType;
      DtDeadReckonTypes myDeadReckonTypes;

      float mySmoothingPeriod;
      bool mySmoothingEnabled;
      bool myUseAbsoluteTimeStamping;
      bool myHasReceivedInput;
   };

}