activeBotNavInterface.h

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/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/vrfobjcoreDefines.h"
#include "vrfobjcore/vrfObjectNavInterface.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfobjcore/simObject.h"
#include "vrfNavigation/navArea.h"
#include "vrfNavigation/transitionPointFinder.h"
#include "vrfNavigation/navBot.h"
#include "vrfNavigation/coverPointFinder.h"

#include <matrix/vlVector.h>

class DtNavTag;

class DT_DLL_vrfobjcore DtActiveBotNavInterface : public DtVrfObjectNavInterface
{
private:
   DtActiveBotNavInterface();
   DtActiveBotNavInterface(const DtActiveBotNavInterface& orig);
   DtActiveBotNavInterface& operator=(const DtActiveBotNavInterface& orig);

public:
   static DtVrfObjectNavInterface* create(DtLocalObject* vrfObject);

protected:
   DtActiveBotNavInterface(DtLocalObject* vrfObject);
   virtual bool init() override;

public:

   virtual void postObjectInit() override;

   virtual void firstTick() override;
   virtual void tick() override;
   virtual ~DtActiveBotNavInterface() override;

   virtual bool ableToNavigate() const override;
   DtNavArea* navArea() { return myNavArea; }
   const DtNavArea* navArea() const { return myNavArea; }

   virtual const DtString& navProfile() const;
   virtual void setNavProfile(const DtString& profile);

   virtual bool requestControl(int priority, const DtString& controller);
   virtual bool hasControl(int priority);
   virtual void releaseControl(int priority);

   virtual void setDestination(const DtVector& localDest);

   virtual DtVector destination() const;

   virtual void resetDestination();

   virtual void setPositionInvalid();

   virtual void setDesiredSpeed(double speed);

   virtual DtNavBot::PathStatus pathStatus(double atDistance);
   virtual DtString pathStatusString();

   virtual double getOutputSpeed();
   virtual double getOutputHeading();

   virtual bool currentPath(std::vector<DtVector>& path);
   virtual bool abstractPath(std::vector<DtVector>& path);

   virtual bool currentPathEdge(DtVector& edgeStart, DtVector& edgeEnd);

   virtual void getNavPathAsRw(DtRwBinaryData&);

   virtual unsigned currentAbstractPathIndex();

   virtual void setUseAbstractGraph(bool yesNo);

   virtual void resetUseAbstractGraph();

   virtual bool usingAbstractGraph() const;

   virtual void setPathCostEvalFunction(DtNavBot::NavBotPathLocationEvalFcn fcn, void* usr);

   virtual void clearPathCostEvalFunction();

   virtual DtVector transitionPoint() const { return myTransitionPoint; };

   virtual bool usingTransitionPoint() const;

   virtual bool nextTransitionPoint(DtVector& tPoint);

   virtual bool findingTransitionPoint() const;

   virtual std::vector<DtVector> searchInArea(double radius, double postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn = 0,
      void* usrData = 0, int navTag = -1);
   virtual std::vector<DtVector> searchInArea(const DtVector& startPoint,
      double radius, double postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn = 0,
      void* usrData = 0, int navTag = -1);

   virtual DtNavAreaQuery::Ptr findBestPathTo(const std::vector<DtVector>& localPositions, 
      DtNavArea::DtSearchAreaPointCostModifierEvaluatorFcn = 0, DtNavArea::DtPointOfInterestEvaluatorFcn = 0,
      DtNavArea::DtPathCalculatedEvaluatorFcn = 0, void* usrData = 0);
   
   virtual DtNavAreaQuery::Ptr findPathToLocation(const DtVector& start, const DtVector& destination,
      bool useAbstractGraphs, const DtVector& locationToAvoid = DtVector(), double avoidanceRadius = 0);

   virtual bool findFarthestPositionAlongHeading(const DtVector& start,
      double heading, double maxDistance, DtVector& result, bool& reachedMaxDist) const;

   virtual void cancelQuery(DtNavAreaQuery::Ptr);

   virtual bool findFarthestPositionAlongHeading(double heading, double maxDistance,
      DtVector& result, bool& reachedMaxDist) const;

   virtual DtNavTag navTagAtPosition(const DtVector& localPos) const;

   virtual DtNavTag upcomingNavTagOnPath() const;

   virtual void upcomingNavTagsOnPath(double distance, DtNavTagAndLocationList& navTags) const;

   virtual void setNavigationMethod(DtNavBot::NavigationMethod navMethod);

   virtual void resetNavigationMethod();

   virtual DtNavBot::NavigationMethod navigationMethod() const;

   virtual DtVector performMovement(double dt);

   virtual DtVector groundClamp(const DtVector& localPos, DtVector& normal);

   bool findValidPositionNearby(const DtVector& localStart, double radius, DtVector& result);

   virtual DtNavBot* navBot();

   virtual bool changeAreaIfOverlapping(const DtVector& dest);

protected:

   virtual void changingNavArea(DtNavArea* newNavArea) override;

   virtual void processSetLocationComplete();

   virtual DtNavAreaQuery::Ptr findTransitionPoint(DtNavArea* navArea, const DtVector& localStart, const DtVector& localDest);
   virtual DtNavAreaQuery::Ptr findBestExitPoint(DtNavArea* navArea, const DtVector& localStart, const DtVector& localDest);
   virtual DtNavAreaQuery::Ptr findCoverPoint(DtNavArea* navArea, const DtVector& localStart,
      const DtVector& localCoverFrom, double coverFromRadius, double distanceFromThreat);
   virtual bool findInsidePositionFromOutsidePosition(DtNavArea* navArea,
      const DtVector& localStart, const DtVector& localDest, DtVector& result, int& halfEdgeType);

   virtual DtVector adjustDestination(const DtVector& localDest);

   virtual DtVector localOrParentPos(const DtVector& localPos);
   virtual DtVector objectLocationLocalOrParent() const;

   virtual bool botShouldBeActive();

   virtual void setCollisionAvoidParams(DtNavBot::CollisionAvoidanceConfiguration& collAvoidConfig);

   virtual void findTransitionPointStartingFrom(const DtVector& startingPoint,
      const DtVector& to);

   virtual void removeDebugTransitionPoints();

   virtual void setNavigationConfigParams(DtNavBot::NavigationConfiguration& navConfig);

protected:
   DtString myProfile;
   DtNavBot* myNavBot;
   DtNavArea* myNavArea;

   DtVector myTransitionPoint;

   DtNavArea* myDestNavArea;
   DtVector myDestNavAreaTransitionPoint;
   bool myFindingDestNavAreaTransitionPoint;

   DtNavAreaQuery::Ptr myPendingQuery;
   std::shared_ptr<DtTransitionPointFinder> myPendingPointFinder;

   std::list<DtNavAreaQuery::WeakPtr> myActiveQueries;

   std::shared_ptr<DtCoverPointFinder> myPendingCoverPointFinder;

   int myControllerPriority;
   DtString myController;

   DtString myStatusString;

   DtNavBot::NavBotPathLocationEvalFcn myPathCostEvalFcn;
   void* myPathCostEvalFcnUsrData;

   std::vector<DtLocalObject*> myDebugTransitionPoints;

   bool myFailedToFindTransitionPoint;
   bool myFailedToFindCoverPoint;

   bool myWaitingForInitialNav;
   bool mySetDestinationWaitingForNav;
   bool myNavigationIsEnabled;
   DtVector myDestinationWaitingForNav;
   DtTime myInitialSimTime;

   double myDefaultRadius;
   double myDefaultHeight;

   DtNavBot::NavigationMethod myDefaultNavigationMethod;
   boost::signals2::scoped_connection myLocationCompleteConnection;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};