staticLocationStateComponent.h

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/*******************************************************************************
** Copyright (c) 2023 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfStateData/locationStateComponent.h"
#include <tbb/mutex.h>

class Coordinate_System;

namespace makVrf
{

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

      DtStaticLocationStateComponent(DtStateData* storage)
      : DtLocationStateComponent(storage)
      {
      }
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentNextFrame : public DtStaticLocationStateComponent
   {
   public:
      DtStaticLocationStateComponentNextFrame(DtStateData*);
      virtual ~DtStaticLocationStateComponentNextFrame();
   
      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 int objectAttachMode() 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;

      const bool spatiallyFrozen() const;

      virtual void makeWritable();

      virtual void makeReadOnly();

      void advanceFrame();

   protected:
      DtStateData* myStateData;
      DtRwVrfKinematicState* myKinematicState;
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentCurrentFrame : public DtStaticLocationStateComponent
   {
   public:
      DtStaticLocationStateComponentCurrentFrame(DtStateData*);
      virtual ~DtStaticLocationStateComponentCurrentFrame();
   
      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 int objectAttachMode() 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 DtStaticLocationStateComponentImplementation;
      void setLocationChanged(bool);
      void setKinematicState(const DtRwVrfKinematicState&);

   protected:
      mutable tbb::mutex myKinematicStateMutex;
      mutable DtRwVrfKinematicState* myKinematicState;
      DtStateData* myStateData;
      bool myLocationChanged;
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentImplementation : public DtDoubleBufferedStateComponent<DtStaticLocationStateComponent>
   {
   public:
      DtStaticLocationStateComponentImplementation(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*);

      void updateDataStorage();

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

      virtual bool forceAdvance() override;

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

   protected:
      DtStaticLocationStateComponentCurrentFrame myCurrentFrameState;
      DtStaticLocationStateComponentNextFrame myNextFrameState;
   };

   typedef DtStateComponentCreator<DtStaticLocationStateComponentImplementation> DtStaticLocationStateComponentCreator;
}