groundFollowEntityController.h

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



#pragma once

#include "vrfmodel/groundMoveToDestinationControllerComponent.h"

#include <vlutil/vlString.h>
#include <matrix/vlVector.h>
#include <vlpi/trigonometricSmoother.h>

class DtSimulationServices;
class DtSimMessage;
class DtStringOutputPort;
class DtGroundFollowEntityDescriptor;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtGroundFollowEntityController : public DtGroundMoveToDestinationControllerComponent
{

public:

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

   virtual ~DtGroundFollowEntityController() override;

   virtual const char* type() const override;


   static void followEntityCallback(DtSimMessage* msg, void* usrData);

   virtual void processFollowEntityTask(DtSimMessage* msg);

   virtual DtVector predictedDestination();

   virtual DtUUID entityToFollow();
   virtual void setEntityToFollow(const DtUUID& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

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

   virtual void registerTaskMsgCallbacks() override;

   virtual bool setupDestination() override;

   virtual bool passedDestination() override;

   virtual double findDesiredSpeed(const double maxAcceleration = 0.0) override;

   virtual double findDesiredHeading() override;
   
   virtual void setupDestinationVector() override;

   virtual void stop(bool success) override;
   
   virtual void tick() override;

   virtual bool usingNavBot(){return false;}

   virtual void updateNavBotDestination();

   virtual bool needToUpdateNavInterfaceDestination(const DtVector& newLocalDestination);

protected:
   DtGroundFollowEntityController();

   DtGroundFollowEntityController(const DtGroundFollowEntityController & 
      orig);

   const DtGroundFollowEntityController & operator=(const 
      DtGroundFollowEntityController & orig);

   virtual bool createPorts() override;

protected:

   DtGroundFollowEntityDescriptor* myComponentDescriptor;

   DtSimObjectReference myLeaderPointer;

   DtStringOutputPort* myFollowEntityOutputPort;

   DtTrigonometricSmoother* myLeaderSmoother;

   DtVector myPredictedDestination;

   double myNavInterfaceDestinationSetTime;
   
   DtVector myNavInterfaceCurrentDestination;

   bool myWarnedOnceDestroyed;
   DtPlatformSimObjectFacade myLeaderPointerSimObjectFacade;
};