DtHumanMovementActuator Class Reference

DtHumanMovementActuator is a simple movement actuator for lifeforms.

Developer Description: It moves in the requested speed (clamped by the max speed of the entity) and direction. The entity will speed up, slow down, and turn instantly when the requested values change.

Uses Descriptor Type: DtHumanMovementActuatorDescriptor

Inheritance diagram for DtHumanMovementActuator:

Public Types
typedef std::map < DtLifeformStaticPosture, DtLifeformState >	DtStaticToDynamicPostureMap
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()

Public Member Functions
	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 ()
Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()
virtual DtSimRadio *	radio ()
virtual bool	tickWhileDestroyed () const
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
virtual void	setParentSystem (DtComponentSystem *system)
DtComponentSystem *	parentSystem () const
virtual bool	postAddComponentsInit ()
virtual void	registerAttributeFunctions ()
virtual void	postTick ()
virtual void	timedTick ()
virtual void	setMinTickPeriod (double minTickPeriod, double minTickPeriodVariance)
virtual void	setupFirstTickTime ()
virtual void	setEntity (DtLocalObject *entity)
virtual DtSimComponent *	nextComponent ()
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
virtual DtListItem *	listItem ()
virtual void	putData (std::string &fp, int indentLevel=0)
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
virtual void	addInputPort (DtInputPort *port)
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
virtual DtList	inputPortList () const
virtual void	addOutputPort (DtOutputPort *port)
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
virtual DtList	outputPortList () const
virtual void	addInputPortGroup (DtInputPortGroup *group)
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
virtual DtList	inputPortGroupList () const
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
virtual DtList	outputPortGroupList () const
virtual int	priority () const
virtual void	setPriority (int priority)
double	dT () const
virtual void	setDT (double deltaT)
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
virtual const DtComponentDescriptor *	componentDescriptor () const
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual const DtSymbolString &	componentFullName () const
DtPhysicalWorld *	physicalWorld ()
const DtPhysicalWorld *	physicalWorld () const
const DtAttachedTerrain *	terrainAttachedTo () const
DtLocalObject *	entity ()
const DtLocalObject *	entity () const
DtSimulationServices *	simulationServices ()
const DtSimulationServices *	simulationServices () const
const Coordinate_System *	coordinateSystem () const
virtual void	isClutterChanged ()
virtual bool	taskVisualizationsActive () const
virtual bool	taskVisualizationsEnabled () const
virtual void	onRestore ()
makVrf::DtTaskVisualizationMap &	taskVisualizations ()
virtual void	enable ()
virtual void	disable ()
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual int	notifyLevel () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
VRF4API_METHOD const DtSimulationServices *	simManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
bool	operator== (const DtReaderWriter &) const
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual void	postPutSelf ()
virtual void	prePutSelf ()
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
virtual void	postGetSelf ()
virtual void	preGetSelf ()
virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual DtSymbolString	name () const
virtual void	addAlias (const DtSymbolString &alias)
virtual void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
bool	isReadonly () const
virtual void	reset ()
virtual int	alignment () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
virtual void	setName (const DtString &)
virtual const char *	readerWriterType () const
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
virtual bool	hasVariableReference () const
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
virtual void	recordUpdateTime () const
virtual bool	changedSinceLastChecked ()
virtual bool	peekChangedSinceLastChecked () const
virtual void	setValueSpecified (bool specified, bool recurse=false)
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
virtual DtSymbolString	variableName () const
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
const DtReaderWriterRegistry &	registry () const
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
virtual bool	toXml (const DtFilename &) const
virtual bool	fromXml (const DtString &)
virtual bool	fromXmlFile (const DtFilename &)
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
static const DtFilename &	appPath ()
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
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 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)
virtual void	processSetHeading (DtSimMessage *msg)
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	processTerrainChangeNotification (const DtExtent &spatExtent)
virtual void	detachFromParentDueToAutomaticDisembark ()
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	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)
Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual void	setRadio (DtSimRadio *radio)
	DtActuatorComponent ()
Protected Member Functions inherited from DtSimComponent
virtual void	setupTimedTickLogic (double minTickPeriod, double minTickPeriodVariance)
virtual double	computeCurrentTime ()
bool	testInvariant () const
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
virtual void	updateTaskVisualizations ()
virtual void	destroyTaskVisualizations ()
virtual void	destroyTaskVisualization (const DtString &name)
virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
double	calculateNextTaskVisTickTime () const
DtVrfObjectStateRepository *	localStateRepository ()
const DtVrfObjectStateRepository *	localStateRepository () const
DtPropertyInterface *	cachedNextFrameStateProperty (DtPropertyInterface **prop, const DtString &propName)
template<typename ValType >
void	setCachedNextFrameStatePropertyValue (DtPropertyInterface **prop, const DtString &propName, ValType value)
const DtPropertyInterface *	cachedCurrentFrameStateProperty (const DtPropertyInterface **prop, const DtString &propName) const
template<typename ValType >
bool	getCachedCurrentFrameStatePropertyValue (const DtPropertyInterface **prop, const DtString &propName, ValType &value) const
void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	removeSimObjectPredicateCallback (const DtSimObject *, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	invokeSimObjectPredicateCallbacks ()
virtual void	clearPredicateCallbacks ()
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Static Protected Member Functions
static void	setHeadingCallback (DtSimMessage *msg, void *usr)
static void	setGroundClampFidelityCallback (DtSimMessage *msg, void *usr)
static void	terainChangeNotification (const DtExtent &spatExtent, void *usr)

Protected Attributes
DtHumanMovementActuatorPSR *	myProcessState
double	myMutablePitch
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
Ports and Port Groups
DtAnalogInputPort *	myMovementDirectionInputPort
DtAnalogInputPort *	myFacingDirectionInputPort
DtAnalogInputPort *	mySpeedInputPort
DtInputPortGroup *	myMovementControlInputPortGroup
DtIntegerInputPort *	myDesiredStaticPostureInputPort
DtVectorInputPort *	myDestinationInputPort
DtBooleanInputPort *	myPostureChangingPort
DtIntegerInputPort *	myOverrideGroundClampFidelityPort
DtAnalogOutputPort *	myAltitudeAglOutputPort
DtVrfMovingObjectStateRepository *	myMovingObjectStateRepository
DtHumanStateRepository *	myHumanStateRepository
Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio
Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity
DtComponentSystem *	mySystem
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myLastTickSimTime
std::unique_ptr< DtTimedTickLogic >	myTimedTickLogic
double	myDT
bool	myIsEnabled
bool	myFirstTick
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
makVrf::DtTaskVisualizationMap	myTaskVisualizations
double	myNextTaskVisTickTime
DtSymbolString	myFullComponentName
DtSimulationServices *	mySimServices
DtPredicateCallbackManager *	myPredicateCallbackManager
boost::signals2::scoped_connection	myIsClutterChangedConnection
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
bool	myInvalid
bool	myChangedFlag

Private Member Functions
DtHumanMovementActuator &	operator= (const DtHumanMovementActuator &orig)
	DtHumanMovementActuator (const DtHumanMovementActuator &orig)

Additional Inherited Members
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory
Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue
static DtGetSelfCallbackInfo	thePostGetSelfCallback
static DtPutSelfCallbackInfo	thePrePutSelfCallback
static const DtVariableBindingsList	theEmptyVariableBindingsList
static bool	theCreatorFcnSet
static DtReaderWriterFactory *	theFactory
static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn
static bool	thePutIndent
static DtOutputStream *	theOutputStream

Member Typedef Documentation

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

Constructor & Destructor Documentation

DtHumanMovementActuator::DtHumanMovementActuator ( const DtHumanMovementActuator &  orig )

private

Not implemented.

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

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

virtual DtHumanMovementActuator::~DtHumanMovementActuator ( )

virtual

destructor

Member Function Documentation

DtHumanMovementActuator& DtHumanMovementActuator::operator= ( const DtHumanMovementActuator &  orig )

private

Not implemented.

virtual bool DtHumanMovementActuator::init ( )

virtual

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual const char* DtHumanMovementActuator::type ( ) const

virtual

Returns a string identifies the class type of component. Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns

DtHumanMovementActuatorType

Implements DtSimComponent.

virtual bool DtHumanMovementActuator::createPSR ( )

virtual

Creates the PSR to be used by this actuator.

virtual void DtHumanMovementActuator::preFirstTickInit ( )

virtual

This function can be overridden to initialize a component before it is ticked for the first time. The implementation for this function is empty. It is called by timedTick if myFirstTick is true.

Reimplemented from DtSimComponent.

virtual void DtHumanMovementActuator::tick ( )

virtual

This gives the thread of control to the component. The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

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

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

Returns

New instance of this class.

virtual double DtHumanMovementActuator::calculateMaxSpeed ( )

protectedvirtual

Returns

The current max speed based on pitch, soil type, and capabilities of the entity.

virtual double DtHumanMovementActuator::maxSpeedFromFacingError ( const double  desiredHeading, const double  currentHeading  ) const

protectedvirtual

Compute maximum speed based on difference of facing from desired facing. Max allowed speed is reduced to 0.1mps as the heading error increases from 0 to pi/2+.

virtual double DtHumanMovementActuator::maxSpeedSoilFactor ( ) const

protectedvirtual

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

protectedvirtual

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

protectedvirtual

Given the new location as projected along the current velocity vector, its movement heading, and its facing, find the terrain under the new location and compute the final entity state. This function calls identifySupportSurfaceAndAltitude to get the surface under the new location. If there is a drop in altitude more than vertical-crack-tolerance (from the descriptor), the terrain is re-checked at a position horizontal-crack-tolerance farther along the direction of motion, and the same distance perpendicular to the direction of motion, to see if the result is higher. If it is, the higher altitude is used.

Parameters

newLocalProjectedLocation	The tentative new position as projected from the current velocity.
newHeading	The current heading angle of movement.
newFacingOrientation	The current heading angle of facing. This can be different from the newHeading if the entity isn't moving in the direction it is facing.
newLocalOrientation	(Output) The new direction of facing, including a pitch to match the terrain pitch if the entity is prone or crawling.
newLocalDirectionOfMovement	(Output) The new direction of movement, including the pitch of the terrain.
newLocalPosition	(Output) The new position on the terrain.

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

protectedvirtual

In calculating the new altitude for an entity when it moves, the entity position is first projected along its velocity vector for the last tick (calculateProjectedLocation), and then the terrain at that location is found (in calculateOrientationAndPosition). That function uses identifySupportSurfaceAndAltitude to check the terrain under a position stepUpFractionLimit * body height above the projected location.

Normally the terrain lookup finds a ground surface and the entity is placed there. However, there may be no terrain under the entity, or the terrain may be more than a step-up down, it may be more than a step-up up, or there may be no terrain at all. The functions altitudeForNoTerrainBelow, altitudeForDropToSurface, altitudeForNearbySurface, and altitudeForNoSurface handle those situations and determine what altitude the entity should be placed at.

Parameters

testPosition	Computed new position given v and a.
altOfTestPosition	The altitude of the testPosition.
stepUpVector	A vector in local coordinates that points up and whose length is equal to the distance that the entity can instantly move up in one tick–i.e., the height of a step that it can climb. The step up height is given by the body height times the step-up-fraction-limit in the descriptor.
bodyHeight	The body height, from the bounding volume size.
interactionSurface	An output parameter that contains the surface the entity is standing on, if it is standing on something. Note that the entity may be falling or floating.
adjustedAltitude	An output parameter that contains the altitude of the entity.

virtual double DtHumanMovementActuator::stepUpFractionLimit ( ) const

protectedvirtual

The limit on how far an entity can step up in one tick. Expressed as a fraction of the body height. Default value is 0.4.

virtual double DtHumanMovementActuator::underWaterFraction ( ) const

protectedvirtual

The fraction of a human that is below water when it is floating in water. Default is 0.88.

virtual double DtHumanMovementActuator::dropSpeed ( ) const

protectedvirtual

The speed at which an entity will drop if it encounters a sudden drop in elevation. In m/s. If there is a hole in the terrain database, this limit might prevent the entity from dropping through to the next level in one tick.

virtual double DtHumanMovementActuator::altitudeForNoTerrainBelow ( double  projectedPointAlt, DtVector  projectedPoint, double  surfacePointAlt  ) const

protectedvirtual

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns

Altitude The adjusted altitude of the entity. This function handles the case when there is no terrain under the test point; however, there is a ground surface above the entity somewhere. The default behavior is to keep the same altitude as the projected point. In other words, the entity won't jump up to the surface above. An alternative would be to make the entity rise slowly to the surface.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns

Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForDropToSurface ( double  projectedPointAlt, DtVector  projectedPoint, double  surfacePointAlt  ) const

protectedvirtual

This function handles the case where there is a drop from the projected position to the ground surface below of more than some fraction of the body height. The default is to output the surface altitude. This causes the entity to jump immediately down if it moves off the edge of a step or rooftop. However, this function can be overridden to make the entity accelerate down with gravity; or, to stay at the same altitude.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns

Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForNearbySurface ( double  projectedPointAlt, DtVector  projectedPoint, double  surfacePointAlt  ) const

protectedvirtual

This function handles the case where a surface is found near the projected position. The default behavior is to set the output altitude to the surface altitude.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns

Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForNoSurface ( double  projectedPointAlt, DtVector  projectedPoint  ) const

protectedvirtual

This function is for the case where no surfaces were found at all in the terrain lookup. The default behavior is to output the projected point altitude so the entity does not move up or down. Alternatively, the altitude could be clamped to 0.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (above the projected point, in this case).

Returns

Altitude The adjusted altitude of the entity.

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

protectedvirtual

virtual void DtHumanMovementActuator::computeAndSetPosture ( )

protectedvirtual

The main method for everything to do with posture in this actuator. This determines the correct posture based on the input port and speed of the entity, and then sets this posture to the state repository.

virtual DtLifeformState DtHumanMovementActuator::computeDynamicPosture ( DtLifeformStaticPosture  staticPosture )

protectedvirtual

Determines the correct dynamic posture for the entity based on the desired static posture passed in, and the current state of the entity.

virtual DtLifeformStaticPosture DtHumanMovementActuator::restrictPostureForTerrain ( DtLifeformStaticPosture  desiredPosture )

protectedvirtual

Returns

The static posture closest to the desired posture that is allowed on the current terrain. For example, standing upright on a steep hill is not allowed, so the return would be prone.

virtual bool DtHumanMovementActuator::checkForTerrainCollisions ( ) const

protectedvirtual

Returns

Boolean signifying whether or not the terrain should be checked for collisions with the entity's bounding volume while it moves. If this returns true, the entity will not move through the terrain. If this is false, it may move through terrain polygons, such as building walls when moving to a new location.

Note

it currently just returns the value of the user specified parameter in the automotivePSR.

virtual bool DtHumanMovementActuator::checkForEntityCollisions ( ) const

protectedvirtual

Returns

True if the entity should current check for (and stop) when colliding with another entity.

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

protectedvirtual

Checks for terrain polygons between specified old and new positions. By default, the check will be done for the bounding volume center of the entity. To perform the check at another height, specify the fraction of the entity's height which should be used using the heightFraction parameter.

Returns

True if there are any blocking polygons, and in that case also sets newLocalProjectedLocation to the position just before the polygons are hit.

virtual bool DtHumanMovementActuator::checkBlockedByEntities ( const DtVector &  oldLocalPosition, DtVector &  newLocalProjectedLocation  )

protectedvirtual

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

protectedvirtual

Calculates a movement vector based on the two input positions, and using the BV of the entity. (the vector is not directly between the positions, but rather offset to the front face of the BV) Also returns a vector in local coords between the positions, and a vector between the oldLocalPosition and the start of the movement chord.

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

protectedvirtual

Similar to movementChord, but rather than using the bounding volume center to define the height of the chord, uses a specified fraction of the entity height.

virtual double DtHumanMovementActuator::maxUprightTerrainPitch ( ) const

protectedvirtual

Returns

Maximum terrain pitch at which entity can maintain a static upright posture (i.e. standing posture). Actuator will switch to a prone posture when terrain pitch exceeds this value. Units in radians. Returns value from myHumanMovementActuatorDescriptor if it exists, otherwise, returns 0.5236 (30 degrees) by default.

virtual double DtHumanMovementActuator::maxWalkingSpeed ( ) const

protectedvirtual

Returns

Maximum speed at which entity will walk. Actuator will switch from a walking posture to a running posture when current speed exceeds this value. Returns value from myHumanmovementActuatorDescriptor if it exists, otherwise returns 2.0 by default. Units in meters/second.

virtual void DtHumanMovementActuator::initializeStaticToDynamicPostureMap ( )

protectedvirtual

Initializes contents of myStaticToDynamicPostureMap, used.

virtual bool DtHumanMovementActuator::computeEntityDirOfMovement ( double &  heading ) const

protectedvirtual

Returns

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

protectedvirtual

Returns

The pitch of the terrain at the specified position in the specified direction.

virtual bool DtHumanMovementActuator::createPorts ( )

protectedvirtual

Overridden to create the movement control input ports.

Reimplemented from DtSimComponent.

virtual bool DtHumanMovementActuator::createPortGroups ( )

protectedvirtual

Overridden to create the movement control input port group.

Reimplemented from DtSimComponent.

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

protectedvirtual

Find surfaces below the test point, from top to bottom. The actuator needs to find either a ground surface below, or a water surface and the ground under that, or else a water surface and a check that the water is deep enough that the entity would float on the water anyway. This function tries to be efficient by looking for surfaces only a short distance (10m) below the test position before it looks down to -inf; if it finds one of the above conditions are true in the abbreviated look, then it returns immediately. Thus it may not find ALL the surfaces below.
Returns true if a surface was found; false otherwise. Data available is set false if a terrain interface call reports data not available; true otherwise.

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

protectedvirtual

Find the closest surface above the test point. Returns true if a surface was found; false otherwise. If found, returns the altitude of the surface and the surface (type).

virtual bool DtHumanMovementActuator::isWater ( const DtSurface &  surface )

protectedvirtual

Determine whether the surface should be interpreted as water. For human ground entities, treat as water only if it does not have an Undefined soil type, and if the water-surface medium bit is set.

static void DtHumanMovementActuator::setHeadingCallback ( DtSimMessage *  msg, void *  usr  )

staticprotected

virtual void DtHumanMovementActuator::processSetHeading ( DtSimMessage *  msg )

protectedvirtual

static void DtHumanMovementActuator::setGroundClampFidelityCallback ( DtSimMessage *  msg, void *  usr  )

staticprotected

virtual void DtHumanMovementActuator::processGroundClampFidelity ( DtSimMessage *  msg )

protectedvirtual

virtual bool DtHumanMovementActuator::checkAndDisembarkIfEmbarked ( const DtVector &  localPosition )

protectedvirtual

Check terrain hit, and, if entity is embarked, and there is no terrain hit on parent, disembark. Will only check if embarked.

virtual bool DtHumanMovementActuator::checkIfMoveOntoEmbarked ( const DtVector &  localPosition )

protectedvirtual

Check to see if there are any entities at the location given that can be moved onto for embarkation. If ther are then check to see if they are intersected. Return true if is.

virtual bool DtHumanMovementActuator::initializeAglPort ( )

protectedvirtual

virtual void DtHumanMovementActuator::setTerrainUpdateFlagsBasedonDataAvailable ( bool  dataAvailable )

protectedvirtual

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

protectedvirtual

The following functions are no longer used in this actuator (4.3)

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

protectedvirtual

The following functions are no longer used in this actuator (4.3)

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

protectedvirtual

The following functions are no longer used in this actuator (4.3)

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

protectedvirtual

The following functions are no longer used in this actuator (4.3)

static void DtHumanMovementActuator::terainChangeNotification ( const DtExtent &  spatExtent, void *  usr  )

staticprotected

Callback for terrain change notifications.

Parameters

spatExtent	the spatial extents in local coordinates for change
usr	this

virtual void DtHumanMovementActuator::processTerrainChangeNotification ( const DtExtent &  spatExtent )

protectedvirtual

Checks to see if entity is within the spatial extents of the terrain change notification and if so sets the terrain change flag so that the correct position and orientation will be set during the tick() method.

Parameters

spatExtent

the spatial extents in local coordinates for change

virtual void DtHumanMovementActuator::detachFromParentDueToAutomaticDisembark ( )

protectedvirtual

Detach from parent due to an automatic disembark from the object this is embarked on. Will need to restore visibility state.

Member Data Documentation

DtAnalogInputPort* DtHumanMovementActuator::myMovementDirectionInputPort

protected

Input Port Name: desired-movement-direction
Input Port Description: Desired movement direction of the entity in radians.
Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control.

DtAnalogInputPort* DtHumanMovementActuator::myFacingDirectionInputPort

protected

Input Port Name: desired-facing-direction
Input Port Description: Desired facing direction of the entity in radians. NOTE: This input port is currently ignored. It is here for future expansion. The entity currently always faces in its movement direction. Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control.

DtAnalogInputPort* DtHumanMovementActuator::mySpeedInputPort

protected

Input Port Name: desired-speed
Input Port Description: Desired speed of the entity in m/s.
Input Port Range: 0 and up. Input Port Default Value: N/A
Input Group Parent: movement-control.

DtInputPortGroup* DtHumanMovementActuator::myMovementControlInputPortGroup

protected

Input Port Group Name: movement-control
Input Port Group Description: Collection of inputs specifying the desired movement of the entity.
.

DtIntegerInputPort* DtHumanMovementActuator::myDesiredStaticPostureInputPort

protected

Input Port Name: desired-static-posture
Input Port Description: The desired posture of the entity. This is a static (non-moving) posture, and will be mapped to an appropriate moving posture based on the actual speed of the entity.
Input Port Range: See DtLifeformStaticPosture. Input Port Default Value: DtStaticPostureUpright
.

DtVectorInputPort* DtHumanMovementActuator::myDestinationInputPort

protected

Input Port Name: destination
Input Port Description: Specifies the current destination of the entity in geocentric coordinates. If not specified, destination will be ignored by the actuator.
Input Port Range:
Input Port Default Value:
.

DtBooleanInputPort* DtHumanMovementActuator::myPostureChangingPort

protected

Input Port Name: posture-changing
Input Port Description: Will be used to halt movement if set, so posture transition can complete before movement continues.
Input Port Range:
Input Port Default Value:
.

DtIntegerInputPort* DtHumanMovementActuator::myOverrideGroundClampFidelityPort

protected

Input Port Name: override-ground-clamp-fidelity
Input Port Description: Indicates whether or not the ground clamp fidelity should be overridden while performing the current task.
Input Port Range: 1 (high), 2 (low)
Input Group Parent:
.

DtAnalogOutputPort* DtHumanMovementActuator::myAltitudeAglOutputPort

protected

Output Port Name: altitude-agl
Output Port Description: Altitude above ground level.
Output Port Range: 0 and up.
Output Port Default Value: 0.

DtVrfMovingObjectStateRepository* DtHumanMovementActuator::myMovingObjectStateRepository

protected

Convenience pointers to our state repository.

DtHumanStateRepository* DtHumanMovementActuator::myHumanStateRepository

protected

Convenience pointers to our state repository.

DtHumanMovementActuatorPSR* DtHumanMovementActuator::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component.

double DtHumanMovementActuator::myMutablePitch

mutableprotected

This value is the pitch of the terrain under the entity. Since it is expensive to calculate, but needed at a number of places each tick, it is stored here when calculated, and then user other times.

bool DtHumanMovementActuator::myMutablePitchValid

mutableprotected

DtVector DtHumanMovementActuator::myLastParentPosition

protected

DtStaticToDynamicPostureMap DtHumanMovementActuator::myStaticToDynamicPostureMap

protected

const DtHumanMovementActuatorDescriptor* DtHumanMovementActuator::myHumanMovementActuatorDescriptor

protected

bool DtHumanMovementActuator::myPreviouslyEmbarked

protected

bool DtHumanMovementActuator::myWasOnGround

protected

These states are used for controlling debug print statements.

DtUpdateRepositoryOutputPortGroup* DtHumanMovementActuator::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository. All values are in local coordinates.

double DtHumanMovementActuator::myDesiredFacingDirection

protected

bool DtHumanMovementActuator::myUseDesiredFacingDirectionValue

protected

DtUUID DtHumanMovementActuator::myWasJustEmbarkedOn

protected

bool DtHumanMovementActuator::myAglPortInitialized

protected

DtVector DtHumanMovementActuator::myCachedPosition

protected

DtVector DtHumanMovementActuator::myPreviousDestination

protected

bool DtHumanMovementActuator::myPostureChanging

protected

double DtHumanMovementActuator::myPostureSpeed

protected

DtHumanLocalObjectFacade DtHumanMovementActuator::myHumanLocalObjectFacade

protected

Member to allow for access to platform specific data.

bool DtHumanMovementActuator::myTerrainUpdateTriggeredFlag

protected

A flag that is set if the terrain has been altered.

bool DtHumanMovementActuator::myDataUnavailableOnTerrainUpdate

protected

A flag to indicate that data was not available when querying terrain during a terrain update so that it will continue to try to adjust for the terrain update when the data is available.

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The documentation for this class was generated from the following file:

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfmodel/humanMovementActuator.h