maintainFormationMonitor.h

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/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/simObject.h"
#include <map>
#include <matrix/vlVector.h>

class DtVrfAggregateStateRepository;
class DtFormationState;
class DtDcm;
class DtLocalObject;

class DT_DLL_vrfmodel DtMaintainFormationMonitor
{
public:

   enum DtPositionStatus
   {
      DtUndefinedPosition = -1,
      DtInPosition,
      DtBehindPosition,
      DtAheadOfPosition
   };

   typedef std::map<const DtSimObject*, DtPositionStatus> DtAggregatePositionStatusMap;

   DtMaintainFormationMonitor(DtLocalObject* entity);

   DtMaintainFormationMonitor(const DtMaintainFormationMonitor& orig);

   DtMaintainFormationMonitor& operator=(const DtMaintainFormationMonitor& orig);

   virtual ~DtMaintainFormationMonitor();

   virtual void tick();

   virtual void setCatchupFactor(double catchUpFactor);
   virtual double catchupFactor() const;

   virtual void setSlowDownFactor(double slowDownFactor);
   virtual double slowDownFactor() const;

   virtual void setInPositionTolerance(double tolerance);
   virtual double inPositionTolerance() const;

   virtual bool positionStatusHasChanged(const DtSimObject* subordinate, 
      DtPositionStatus status);

   virtual DtPositionStatus getPositionStatus(const DtSimObject* subordinate);

   virtual void setPositionStatus(const DtSimObject* entity, 
      DtMaintainFormationMonitor::DtPositionStatus status);

   virtual void printPositionStatus();
 
protected:

   virtual bool isValidAliveAndMobile(DtSimObjectReference simObjectRef);

   virtual DtPositionStatus positionStatus(const DtVector& geocentricOrigin,
      const DtDcm& geocentricOrientation,
      const DtVector& geocentricTestPosition,
      const DtVector& idealBodyCoordinatesPosition,
      double inPositionTolerance);

   virtual void sendSpeedControl(const DtSimObject* entity, DtPositionStatus status);

   virtual void sendSetSpeedRequest(const DtSimObject& entity, double speed);

   virtual DtVector worldPositionFor(DtSimObjectReference simObjectRef);

   virtual DtDcm worldOrientationMatrixFor(DtSimObjectReference simObjectRef);

protected:

   double myCatchupFactor;
   double mySlowDownFactor;
   double myInPositionTolerance;

   DtLocalObject* myEntity;
   const DtVrfAggregateStateRepository* myAggregateStateRepository;
   const DtFormationState* myFormationState;

   DtAggregatePositionStatusMap myAggregatePositionStatusMap;
};