navObstacle.h

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



#pragma once

#include "vrfNavigation/vrfNavigationDefines.h"
#include <string>
#include "matrix/vlVector.h"

class DtVertexList;
class DtNavArea;

class DT_DLL_vrfNavigation DtNavObstacle
{
public:
   typedef DtNavObstacle* (*DtNavObstacleCreatorFcn)();

   static DtNavObstacle* create();
   static void setNavBotCreatorFcn(DtNavObstacleCreatorFcn fcn);

   virtual ~DtNavObstacle() {};        

   virtual void init(DtNavArea* world, 
      double length, double width, double height, 
      const DtVertexList* transitionPoints = 0,
      DtNavArea* localNavArea = 0) = 0;

   virtual void update(const DtVector& localPos, const DtDcm& localOrientation, const DtVector& localVelocity) = 0;

   virtual void setStationary(bool v) = 0;

protected:
   static DtNavObstacleCreatorFcn theNavBotCreatorFcn;
};