obstructionSensor.h

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/*******************************************************************************
** Copyright (c) 2012 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/simComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfutil/simClock.h"
#include "vrfobjcore/collisionIOPort.h"
#include "gdb/specification.h"
#include "vrfmodel/collisionDetector.h"

#include <list>

class DtString;
class DtSimulationServices;
class Dt3dBoundingVolume;
class DtObstructionSensorDescriptor;
class DtObstructionSensorPSR;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtObstructionSensor : public DtSimComponent
{

public:

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

   virtual ~DtObstructionSensor() override;

private:
   DtObstructionSensor(const DtObstructionSensor& orig);

   DtObstructionSensor& operator=(const DtObstructionSensor& orig);


public:
   virtual bool init() override;

   virtual void preFirstTickInit() override;

   virtual void tick() override;

   virtual const char* type() const override;

protected:

   virtual bool createPSR();

   virtual bool createCollisionDetector();

   virtual bool setObstructionIDsInCollisionDetector();

   virtual bool initializeCollisionBV();

   virtual bool calculateStoppingDistance(const DtObstructionSensorDescriptor& obstructionSensorDesc,
                                          double& stoppingDistance);

   virtual bool calculateCollisionBV();

   virtual void registerMessageCallbacks();

   static void setCollisionAvoidTypesCallback(DtSimMessage* msg, void* usr);

   virtual void processCollisionAvoidTypes(DtSimMessage* msg);

   virtual bool addFeatureTypeToAvoid(DtRwString featureType);

   virtual bool removeFeatureTypeToAvoid(DtRwString featureType);

   virtual DtRwString buildingFeatureType() const;

   virtual DtRwString treeFeatureType() const;

   virtual double decelerationSoilFactor() const;

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

protected:

   virtual bool createPorts() override;

   virtual bool createPortGroups() override;

protected:


   DtCollisionOutputPort* myPotentialCollisionInfoPort;

   DtOutputPortGroup*     myObstructionInfoPortGroup;


   Dt3dBoundingVolume*      myCollisionBV;
   DtCollisionDetector*   myCollisionDetector;
   DtCollisionDetector::DtObjectObstructionIDContainer myObjectObstructionTypes;
   DtCollisionDetector::DtFeatureTypeContainer myFeatureObstructionTypes;
   const DtObstructionSensorDescriptor* myObstructionSensorDesc;

   DtObstructionSensorPSR* myProcessState;

protected:
   mutable DtCollision*             myPotentialCollision;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};