automotivePSR.h

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



#pragma once

#include "vrfobjcore/vrfobjcoreDefines.h"
#include "vrfobjcore/vrfProcessStateRepository.h"
#include "vrfobjcore/simObject.h"
#include <readerWriter/rwReal.h>
#include <readerWriter/rwInt.h>
#include <readerWriter/rwBoolean.h>
#include <readerWriter/rwString.h>
#include "readerWriter/rwVector.h"
#include "vrfutil/localVertexList.h"
#include "vrfutil/localVectorIterator.h"
#include <vrfobjcore/rwSimObjectReference.h>

enum DtAutoTransmissionGearEnum
{
   DtAutoGearReverse = -1,
   DtAutoGearNeutral = 0,
   DtAutoGearForward = 1,
   DtAutoGearPivot = 2
}; 

enum DtAutoAccelerationLevel
{
   DtAutoAccelerationMild = -1,
   DtAutoAccelerationStandard = 0,
   DtAutoAccelerationHard = 1,
   DtAutoAccelarationMax = 2
};

typedef DtAutoTransmissionGearEnum DtAutoTransmissionGear;

class DT_DLL_vrfobjcore DtAutomotivePSR : public DtVrfProcessStateRepository
{
public:

   DtAutomotivePSR(DtLocalObject* vrfObject, 
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0);

   DtAutomotivePSR(const DtAutomotivePSR& orig,
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0);

   virtual ~DtAutomotivePSR() override;

   DtAutomotivePSR& operator=(const DtAutomotivePSR& orig);

   virtual DtVrfProcessStateRepository* clone(
      const DtString& rwName = DtString::nullString(), DtReaderWriterRegistry* parentRegistry = 0) const override;

   virtual DtString type() const override;

   virtual void setCurrentGear(DtAutoTransmissionGear gear);
   virtual DtAutoTransmissionGear currentGear() const;

   virtual void setHeadingToTurnTo(double headingToTurnTo);
   virtual double headingToTurnTo() const;

   virtual void setTurnToMode(int);
   virtual int turnToMode() const;
   
   virtual void setTurnRadiusForTask(const double r);
   virtual double turnRadiusForTask() const;

   virtual void setKTurnReverseGoalHeading(double kTurnReverseGoalHeading);
   virtual double kTurnReverseGoalHeading() const;

   void setCurrentRouteIndex(int currentRouteIndex);
   int currentRouteIndex() const;

   virtual void setKTurnReverseComplete(bool kTurnReverseComplete);
   virtual bool kTurnReverseComplete() const;

   virtual void setControlObject(const DtUUID& object);

   virtual DtSimObjectReference controlObject() const;

   virtual void setContinueFlag(bool flag);
   virtual bool continueFlag() const;

   virtual void setFinalSpeed(const double s);
   virtual double finalSpeed() const;

   virtual void setWorldDestination(const DtVector& destination);
   virtual const DtVector& worldDestination() const;

   virtual void setEntityToFollow(const DtUUID& objectName);
   virtual DtSimObjectReference entityToFollow() const;

   virtual void setFollowingOffsetVector(const DtVector& offsetVector);
   virtual const DtVector& followingOffsetVector() const;

   virtual void setRoute(const DtUUID& route);

   virtual DtSimObjectReference route() const;

   virtual void setRouteVertices(const DtLocalVectorIterator& routeIterator);
   virtual const DtLocalVertexList& routeVertices() const;

   virtual void emptyRouteVertices();

   virtual DtLocalVectorIterator* routeState() const;

   virtual void setReversePatrol(bool flag);
   virtual bool reversePatrol() const;

   virtual void setFirstWaypoint(const DtUUID& waypoint);
   virtual DtSimObjectReference firstWaypoint() const;

   virtual void setSecondWaypoint(const DtUUID& waypoint);
   virtual DtSimObjectReference secondWaypoint() const;

   virtual void setCheckForTerrainCollisions(bool checkForCollisions);
   virtual bool checkForTerrainCollisions() const;


   virtual void setUseHighFidelityGroundClamping(bool yesOrNo);
   virtual bool useHighFidelityGroundClamping() const;


   virtual void setUseTaskSpeed(const bool value);
   virtual bool useTaskSpeed() const;

   virtual void setTaskSpeed(const double value);
   virtual double taskSpeed() const;
   
   virtual void setAccelerationLevel(const DtAutoAccelerationLevel l);
   virtual enum DtAutoAccelerationLevel accelerationLevel() const;

   virtual void setFinalSpeedNotSpecified();
   virtual bool isFinalSpeedSpecified() const;
   
   virtual void setTaskAtDistance(const double d);
   virtual double taskAtDistance()const;
   virtual void setTaskAtDistanceUnspecified();
   virtual bool isTaskAtDistanceSpecified()const;

   virtual int currentVertex() const;

   virtual void putSelf(std::string& fp, int indentLevel = 0, bool writeUnspecified = false,
      const DtFilename& path = DtReaderWriter::appPath()) override;

   static DtVrfProcessStateRepository* creator (const DtString& rwName,
      DtLocalObject* vrfObject, DtReaderWriterRegistry* parentRegistry);


   virtual void setIsCollisionAvoidanceEnabled(bool enabled);
   virtual bool isCollisionAvoidanceEnabled() const;

   virtual void setIsColliding(bool colliding);
   virtual bool isColliding() const;

   virtual void setIsClearing(bool clearing);
   virtual bool isClearing() const;

   virtual void setAvoidingLeft(bool avoidingLeft);
   virtual bool avoidingLeft() const;


   virtual void setGroundMoveToSubtaskId(int id);
   virtual int groundMoveToSubtaskId() const;



   virtual bool intermediateWorldDestinationValid() const;
   virtual void invalidateIntermediateWorldDestination();
   virtual void setIntermediateWorldDestination(const DtVector& destination);
   virtual const DtVector& intermediateWorldDestination() const;

   virtual void setRouteIsDiscovered(bool value);
   virtual bool routeIsDiscovered() const;


   virtual void setIsUsingBotSteering(const bool b);
   virtual bool isUsingBotSteering() const;


protected:

   DtRwInt myCurrentRouteIndex;
   DtRwInt myCurrentGear;
   DtRwReal myHeadingToTurnTo;
   DtRwReal myKTurnReverseGoalHeading;
   DtRwBoolean myKTurnReverseComplete;

   DtRwSimObjectReference myControlObject;

   DtRwSimObjectReference myEntityToFollow;
   DtRwVector myOffsetVector;

   DtRwSimObjectReference myRoute;
   DtLocalVectorIterator* myRouteState;   
   DtLocalVertexList myVertices;
   DtRwInt myCurrentVertex;

   DtRwBoolean myReverseFlag;

   DtRwSimObjectReference myFirstWaypoint;
   DtRwSimObjectReference mySecondWaypoint;

   DtRwBoolean myIsColliding;
   DtRwBoolean myIsClearing;
   DtRwBoolean myAvoidingLeft;

   DtRwVector  myWorldDestination;

   DtRwVector  myIntermediateWorldDestination;

   DtRwBoolean myCheckForTerrainCollisions;

   DtRwBoolean myUseHighFidelityGroundClamping;

   DtRwBoolean myIsCollisionAvoidanceEnabled;

   DtRwBoolean myContinueFlag; 
   DtRwReal myFinalSpeed; 

   DtRwBoolean myRouteIsDiscovered;

   DtRwReal myTaskSpeed;
   DtRwBoolean myUseTaskSpeed;
   
   DtRwReal myTaskAtDistance;

   DtRwInt myTurnToMode;

   DtRwReal myTurnRadiusForTask;

   DtRwInt myAccelerationLevel;

   DtRwBoolean myIsUsingBotSteering;

   DtRwInt myGroundMoveToSubtaskId;
};