simObject.h

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/****************************************************************************
 * Copyright (c) 2021 MAK Technologies, Inc.
 * All rights reserved.
 ****************************************************************************/

#pragma once

#include "vrfobjcore/vrfobjcoreDefines.h"
#include "vrfStateData/stateData.h"
#include "vrfStateData/stateDataWrapper.h"
#include "vrfobjcore/simObjectReference.h"
#include "vrfobjcore/simObjectFacadeBase.h"
#include <vrfStateData/vrfGeometryStateComponent.h>
#include <vrfStateData/vrfStateComponent.h>
#include <vrfStateData/locationStateComponent.h>
#include <vrfStateData/entityStateComponent.h>
#include <vrfutil/rwEntityType.h>
#include <boost/signals2.hpp>
#include <matrix/vlVector.h>
#include <geometry/extent.h>
#include <vrfutil/rwUUID.h>
#include <vlpi/appearance.h>
#include <vlpi/disEnums.h>
#include <matrix/vlDcm.h>
#include <matrix/vlTaitBryan.h>
#include <map>
#include <list>
#include <tbb/spin_rw_mutex.h>
#include <vrfutil/vrf4XAPI.h>

class DtSimObjectDecorator;

namespace MAKVRinTerra
{
   class DtFeatureGeometry;
}

class DtRwSimObjectReferenceList;
class DtSubordinateManager;
class DtRangeItems;
class DtLocalVertexList;
class DtVertexList;
class DtSimulationServices;
class DtSymbolString;
class DtRwProperties;
class DtRwReal;
class DtVrfObjectParameters;
class DtOutputStream;
class DtObjectConsole;
class Coordinate_System;
class DtSimObject;
class DtChord;
class DtAttachedTerrain;
class DtPhysicalWorld;
class DtSimObjectManager;
class DtVrfObjectStateRepository;
class DtSimObjectReferenceList;
class Dt3dBoundingVolume;
class DtEntityIdentifier;
class DtVrfLocalObjectCreateInformation;
class DtNavigationSimObjectDecorator;

class DtPlatformSimObjectFacadeInterface;
class DtAggregateSimObjectFacadeInterface;
class DtVrfSimulatedSimObjectFacadeInterface;

using DtPlatformSimObjectFacade = DtSimObjectFacade<DtPlatformSimObjectFacadeInterface>;
using DtAggregateSimObjectFacade = DtSimObjectFacade<DtAggregateSimObjectFacadeInterface>;
using DtVrfSimulatedSimObjectFacade = DtSimObjectFacade<DtVrfSimulatedSimObjectFacadeInterface>;

class DT_DLL_vrfobjcore DtSimObject : public makVrf::DtStateDataWrapper
{
private:
   DtSimObject();
   DtSimObject(const DtSimObject&);

public:
   explicit DtSimObject(const DtSimulationServices* simManager, makVrf::DtStateData* sd);
   explicit DtSimObject(const DtSimulationServices* simManager, const DtUUID& uuid);
   explicit DtSimObject(const DtSimulationServices* simManager, const DtEntityIdentifier& id);
   explicit DtSimObject(const DtSimulationServices* simManager, const makVrf::DtExternalCurrentFrameState*);

   virtual ~DtSimObject() override;

   virtual Dt3dBoundingVolume boundingVolume() const override;
   DtVector localBoundingVolumeCenterPosition() const;
   DtExtent extent() const;

   DtExtent roughExtent() const;
   void expandExtent(DtExtent& extent) const;

   double distSquaredTo(const DtVector&) const;

   virtual void frameAdvanced() override;
  
   virtual bool isLocal() const;

   const DtPlatformSimObjectFacade& platformSimObjectFacade() const;

   const DtVrfSimulatedSimObjectFacade& vrfSimulatedSimObjectFacade() const;

   bool embarkedOnHighFidelityObject() const;

   DtSimObjectReference simObjectEmbarkedOn() const;

   bool isOnTopOf(const DtSimObject* o) const;

   bool isOnTopOf(const DtSimObject* o, double d) const;

   bool isOnTopOf(const DtSimObject* o, double d, const DtVector& position) const;

   virtual DtVrfLocalObjectCreateInformation vrfLocalObjectCreateInformation() const;

   virtual void makeInvalid() override;

   const DtSimulationServices* simulationServices() const
   {
      return mySimulationServices;
   }

   const DtVrfObjectParameters* parameters() const
   {
      return myParameters;
   }

   DtVrfObjectParameters* duplicateParameters();

   double totalMass() const;

   const Coordinate_System* coordinateSystem() const;

   DtVector locationRelativeTo(const DtVector&, const DtSimObject* relativeTo) const;

   DtVector velocityRelativeTo(const DtVector&, const DtSimObject* relativeTo) const;

   DtVector accelerationRelativeTo(const DtVector&, const DtSimObject* relativeTo) const;

   DtTaitBryan orientationRelativeTo(const DtTaitBryan&, const DtSimObject* relativeTo) const;

   const DtRwProperties& parameterProperties() const;

   double distanceToLocalVector(const DtVector&) const;

   DtSimObjectReference simObjectReference() const;

   DtSimObjectReference superior() const;
   virtual void superiorChanged() override;

   const DtSimObjectReferenceList& attachments() const;

   bool isTopLevel() const;

   MAKVRinTerra::DtFeatureGeometry featureGeometry() const;

   const DtAttachedTerrain* terrainAttachedTo() const;

public:
   virtual void clearDecorators();

   DtSimObjectDecorator* getOrCreateDecorator(const std::string& Decorator) const;
   
protected:
   void tickDecorators();
   virtual void createNavigationDecorator();

   virtual void setupVrfObjectParameters();
   virtual void setUUID(const DtUUID&) override;
   bool checkAndConnectForVrfStateComponent();

   void attachmentsChanged();
   virtual void completeSetup() override;

   virtual void hostChanged(const DtUUID& oldHost, const DtUUID& newHost);

   virtual void usingParameterSource(const DtString&);
   virtual void stateDataAdded(makVrf::DtStateData* sd) override;

private:
   friend class DtSimObjectManager;
   void resetUUID(const DtUUID&);

protected:
   const DtSimulationServices* mySimulationServices;

   typedef std::map<std::string, DtSimObjectDecorator*> SimObjectDecorators;
   mutable SimObjectDecorators mySimObjectDecorators;
   mutable tbb::spin_rw_mutex mySimObjectDecoratorMutex;

   struct ExtentInformation
   {
      ExtentInformation() : lastSimTime(-1.), physicalFootprint(nullptr) {};
      double lastSimTime;
      const DtRwReal* physicalFootprint;
      DtExtent extent;
      DtVector lastPosition;
      tbb::spin_rw_mutex mutex;
   };

   mutable ExtentInformation myExtentInformation;
   DtNavigationSimObjectDecorator* myNavigationSimDecorator = nullptr;

   const DtVrfObjectParameters* myParameters;
      DtVrfObjectParameters* myDuplicateParameters;

   DtSimObjectReferenceList* myAttachments;
   boost::signals2::scoped_connection myAttachmentsChangedConnection;
   boost::signals2::scoped_connection myHostChangedConnection;

   DtSimObjectReference mySuperior;

   mutable DtSimObjectReference mySimObjectReference;
   mutable tbb::spin_rw_mutex mySimObjectReferenceMutex;

   DtAttachedTerrain* myTerrainAttachedTo;

   DtAggregateSimObjectFacade* myAggregateSimObjectFacade;
   DtPlatformSimObjectFacade* myPlatformSimObjectFacade;
   DtVrfSimulatedSimObjectFacade* myVrfSimulatedSimObjectFacade;

public:
   VRF4API_METHOD const DtSimObject* vrfState();
   VRF4API_METHOD const DtSimObject* vrfState() const;
   VRF4API_METHOD const DtSimObject* simState();
   VRF4API_METHOD const DtSimObject* simState() const;
   VRF4API_METHOD bool operator==(const DtSimObject* rhs) const { if (!rhs) return false; else return (uuid() == rhs->uuid()); };
   VRF4API_METHOD const DtSimulationServices* simManager() const;
   VRF4API_METHOD DtSimulationServices* simManager();
   VRF4API_METHOD makVrf::DtVrfObjectGeometry vrfObjectGeometry() const;
   VRF4API_METHOD const DtPhysicalWorld* physicalWorld() const;
   VRF4API_METHOD DtSimObjectReference sharedReference() const { return simObjectReference(); };
   VRF4API_METHOD const DtVrfObjectParameters* parameterEntry() const;
   VRF4API_METHOD const DtSimObjectManager* simObjectManager() const;
   VRF4API_METHOD DtSimObjectReference vrfObject() const;
   VRF4API_METHOD DtSimObjectReference parent() const;
   VRF4API_METHOD double currentHeading() const;
   VRF4API_METHOD double currentPitch() const;
   VRF4API_METHOD double currentRoll() const;
   VRF4API_METHOD const DtString& markingText() const;

   VRF4API_METHOD bool isSpatiallyFrozen() const;
   VRF4API_METHOD bool isFrozen() const;

   VRF4API_METHOD double speed() const;

   VRF4API_METHOD double forwardSpeed() const;
   VRF4API_METHOD DtVector worldVelocity() const;
   VRF4API_METHOD DtVector localVelocity() const;
   VRF4API_METHOD DtVector bodyVelocity() const;
   VRF4API_METHOD DtVector relativeVelocity() const;
   VRF4API_METHOD DtVector parentVelocity() const;
   VRF4API_METHOD DtVector rotationalVelocity() const;

   VRF4API_METHOD DtVector worldAcceleration() const;
   VRF4API_METHOD DtVector localAcceleration() const;
   VRF4API_METHOD DtVector relativeAcceleration() const;

};

#include "simObject.inl"