simObjectStateRepository.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2019 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
#pragma once



#include "vrfobjcore/vrfobjcoreDefines.h"
#include "vrfobjcore/simObjectReference.h"
#include "vrfobjcore/movementLocalObjectFacade.h"
#include <readerWriter/readerWriter.h>
#include <vlutil/vlString.h>
#include <vlpi/disEnums.h>
#include <vlpi/entityType.h>
#include <vlutil/vlString.h>
#include "vrfobjcore/simObjectStateRepositoryFactory.h"
#include <vrfutil/rwEntityType.h>
#include "vrfutil/rwForceType.h"
#include <readerWriter/rwString.h>
#include <vrfutil/rwUUID.h>
#include <vrfutil/simBoundingGeometry.h>
#include <vrfutil/rwVectorIterator.h>
#include <vrfutil/localVectorIterator.h>
#include <readerWriter/noArgumentCallbackList.h>
#include <readerWriter/rwProperties.h>
#include <tbb/spin_rw_mutex.h>
#include <boost/signals2.hpp>
#include <vrfutil/vrf4XAPI.h>
#include <vrfStateData/rwVrfKinematicState.h>

#include <memory>

class DtLocalObject;
class DtSimObjectStateRepository;
class DtLegacySimObjectStateRepositoryRWData;
class DtVrfObjectParameters;
class DtSimObject;
class Coordinate_System;

typedef DtCallbackList<DtSimObjectStateRepository*>::DtCallbackFunctionType DtSimObjectStateRepositoryAboutToBeDeletedCallbackFcn;

namespace makVrf
{
   class DtVrfGeometryStateComponent;
}

class DtSimObjectStateRepository;

class DT_DLL_vrfobjcore DtSimObjectStateRepository : public DtReaderWriter
{
public:
   DtSimObjectStateRepository(DtLocalObject* simObject, 
      const DtString& rwName = DtString::nullString(), DtReaderWriterRegistry*  parentRegistry = 0);

private:
   DtSimObjectStateRepository();
   DtSimObjectStateRepository(const DtSimObjectStateRepository& orig);
   const DtSimObjectStateRepository& operator=(const DtSimObjectStateRepository& orig);

public:

   virtual ~DtSimObjectStateRepository() override;

   virtual DtString type() const;

   virtual const int objectStateRepositorySubType() const;

   virtual bool init();

   virtual bool isEmbarkedOn(const DtUUID& parent) const;

   virtual bool attachToParent(const DtUUID& parent);

   virtual bool attachToParent(DtSimObjectReference parent);

   virtual void detachFromParent();

   template <typename T_SRType>
   const T_SRType* as() const
   {
      return dynamic_cast<const T_SRType*>(this);
   }

   template <typename T_SRType>
    T_SRType* as()
   {
      return dynamic_cast<T_SRType*>(this);
   }

   virtual void createLegacyRWData();
   virtual void cleanupLegacyRWData();
   virtual void restoreFromLegacyRWData();
   virtual void setToLegacyRWData();

   virtual void prePutSelf() override;

   virtual void postPutSelf() override;

   virtual void preGetSelf() override;

   virtual void postGetSelf() override;

   virtual void processSimObjectDeleted(const DtSimObject*);

   virtual void attachedParentUUIDChanged(const DtUUID& oldUUID, const DtUUID& newUUID);

   virtual bool embarkOnParent(const DtUUID& parent);

   virtual bool setHostGlobalId(const DtUUID&);

   virtual double totalMass() const;

   DtSimObjectReference vrfObject() const;
   DtLocalObject* nextFrameVrfObject();

protected:
   virtual void processCompleteAttachment(const DtSimObject*);

public:

   virtual void prepareForHandoff();

   const Coordinate_System* coordinateSystem() const;

   virtual void toBeRemoved();

protected:
   DtLegacySimObjectStateRepositoryRWData*    myLegacyRWData;

   DtLocalObject*             myLocalObject;
   DtMovementLocalObjectFacade myMovementLocalObjectFacade;

   boost::signals2::scoped_connection myUUIDChangedConnection;
   boost::signals2::scoped_connection myLocalObjectAddedConnection;
   boost::signals2::scoped_connection myLocalObjectDeletedConnection;

public:
   VRF4API_METHOD bool isClosedFigure() const;
   VRF4API_METHOD bool isEllipsoid() const;
   VRF4API_METHOD bool isProjection() const;

   VRF4API_METHOD virtual const DtUUID attachedToRepository() const;
   VRF4API_METHOD virtual DtUUID attachedToRepository();

   VRF4API_METHOD bool isSpatiallyFrozen() const;

   VRF4API_METHOD virtual bool leftOf(const DtVector& localVector) const;
   VRF4API_METHOD virtual bool inside(const DtVector& point) const;

   VRF4API_METHOD virtual void setIsVrfSimulatedObject(bool b);

   VRF4API_METHOD bool isVrfSimulatedObject() const;

   typedef DtSimObjectStateRepository DtSimKinematicState;
   typedef DtSimObjectStateRepository DtVrfSimKinematicState;

   VRF4API_METHOD virtual DtForceType forceType();
   VRF4API_METHOD virtual const DtForceType forceType() const;

   VRF4API_METHOD void setOverlayParent(const DtString&);
   VRF4API_METHOD const DtString overlayParent() const;


   VRF4API_METHOD DtReal currentHeading() const;
   VRF4API_METHOD DtReal heading() const;


   VRF4API_METHOD DtReal currentPitch() const;
   VRF4API_METHOD DtReal pitch() const;


   VRF4API_METHOD DtReal currentRoll() const;
   VRF4API_METHOD DtReal roll() const;

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

   VRF4API_METHOD const DtSimKinematicState* kinematicState() const { return this; };
   VRF4API_METHOD const DtVrfSimKinematicState* vrfKinematicState() const { return this; };

   VRF4API_METHOD DtSimKinematicState* kinematicState() { return this; };
   VRF4API_METHOD DtVrfSimKinematicState* vrfKinematicState() { return this; };

   VRF4API_METHOD operator const makVrf::DtRwSimKinematicState () const;
   VRF4API_METHOD operator const makVrf::DtRwVrfKinematicState () const;

   VRF4API_METHOD virtual void removeVertex(int iIndex);
   VRF4API_METHOD virtual void addLocalVertex(const DtVector& vertex);
   VRF4API_METHOD virtual void addLocalVertex(const DtVector& vertex, DtVector& newGeometricCenter);
   VRF4API_METHOD virtual void setLocalVertices(const DtLocalVertexList& vertices, DtVector& newGeometricCenter);
   VRF4API_METHOD virtual void setLocalVertices(const DtList& vertices, DtVector& newGeometricCenter);
   VRF4API_METHOD virtual const DtLocalVertexList& localVertices() const;

   VRF4API_METHOD virtual bool localPositionIsValid() const;

   VRF4API_METHOD virtual void addWorldVertex(const DtVector& vertex, DtVector& newGeometricCenter);
   VRF4API_METHOD virtual void setWorldVertices(const DtVertexList& vertices, DtVector& newGeometricCenter);
   VRF4API_METHOD virtual void setWorldVertices(const DtList& vertices, DtVector& newGeometricCenter);
   VRF4API_METHOD const DtVertexList& worldVertices() const;

   VRF4API_METHOD virtual void setRelativeVertices(const DtLocalVertexList& vertices);
   VRF4API_METHOD virtual const DtLocalVertexList& relativeVertices() const;

   VRF4API_METHOD const DtVector& localPosition() const;

   VRF4API_METHOD const DtVector& localVelocity() const;
   VRF4API_METHOD const DtVector& localAcceleration() const;
   VRF4API_METHOD const DtVector& relativeVelocity() const;
   VRF4API_METHOD const DtVector& relativeAcceleration() const;
   VRF4API_METHOD const DtTaitBryan& localOrientation() const;
   VRF4API_METHOD const DtTaitBryan& localOrientationWrtDatabase() const;
   VRF4API_METHOD const DtDcm& localOrientationMatrix() const;
   VRF4API_METHOD const double localSpeed() const;
   VRF4API_METHOD const double worldSpeed() const;
   VRF4API_METHOD const DtVector& worldPosition() const;
   VRF4API_METHOD const DtDcm& worldOrientationMatrix() const;
   VRF4API_METHOD const DtVector& worldVelocity() const;
   VRF4API_METHOD const DtVector& worldAcceleration() const;
   VRF4API_METHOD const DtTaitBryan& worldOrientation() const;
   VRF4API_METHOD const DtVector& rotationalVelocity() const;
   VRF4API_METHOD const DtVector& parentPosition() const;
   VRF4API_METHOD const DtVector& parentVelocity() const;
   VRF4API_METHOD const DtVector& parentAcceleration() const;
   VRF4API_METHOD const DtTaitBryan& parentOrientation() const;
   VRF4API_METHOD const DtDcm& parentOrientationMatrix() const;
   VRF4API_METHOD const DtVector bodyVelocity() const;

   VRF4API_METHOD virtual void setLocalOrientationWrtDatabase(
      const DtTaitBryan& localOrientation);


   VRF4API_METHOD DtReal currentSpeed() const;

   VRF4API_METHOD DtReal forwardSpeed() const;

   VRF4API_METHOD void setLocalPosition(const DtVector & pos);
   VRF4API_METHOD void setLocalVelocity(const DtVector & vel);
   VRF4API_METHOD void setLocalSpeed(double);
   VRF4API_METHOD void setLocalAcceleration(const DtVector & acc);
   VRF4API_METHOD void setRelativeVelocity(const DtVector & vel);
   VRF4API_METHOD void setRelativeAcceleration(const DtVector & acc);
   VRF4API_METHOD void setLocalOrientation(const DtTaitBryan & angles);

   VRF4API_METHOD void setWorldPosition(const DtVector & pos);
   VRF4API_METHOD void setWorldVelocity(const DtVector & vel);
   VRF4API_METHOD void setWorldAcceleration(const DtVector & acc);
   VRF4API_METHOD void setWorldOrientation(const DtTaitBryan & angles);
   VRF4API_METHOD void setWorldOrientationMatrix(const DtDcm & angles);
   VRF4API_METHOD void setRotationalVelocity(const DtVector& rotationalVelocity);
   VRF4API_METHOD void setLocalOrientationMatrix(const DtDcm & orient);

   VRF4API_METHOD void setParentPosition(const DtVector& pos);
   VRF4API_METHOD void setParentVelocity(const DtVector& pos);
   VRF4API_METHOD void setParentAcceleration(const DtVector& pos);
   VRF4API_METHOD void setParentOrientation(const DtTaitBryan& pos);


   VRF4API_METHOD void setBoundingVolume(const Dt3dBoundingVolume&);
   VRF4API_METHOD Dt3dBoundingVolume boundingVolume() const;
   VRF4API_METHOD void setBoundingGeometryType(DtSimBoundingGeometry::DtSimBoundingGeometryType type);
   VRF4API_METHOD void setHalfLengthWidthHeight(double l, double w, double h);

   VRF4API_METHOD virtual double distanceToLocalVector(const DtVector& localVector) const;

   VRF4API_METHOD void setObjectLabel(const DtString&);
   VRF4API_METHOD const DtString objectLabel() const;
   VRF4API_METHOD DtEntityType objectType() const;
   VRF4API_METHOD const DtVrfObjectParameters* parameterEntry() const;
};

#include "vrfobjcore/simObjectStateRepository.inl"