staticLocationStateComponent.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2023 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfStateData/locationStateComponent.h"
#include <tbb/mutex.h>

class Coordinate_System;

namespace makVrf
{

   class DT_DLL_vrfStateData DtStaticLocationStateComponent : public DtLocationStateComponent
   {
   public:
      DEFINE_STATE_COMPONENT_TYPE(DtStateComponent::EntityLocationStateComponent)

      DtStaticLocationStateComponent(DtStateData* storage)
      : DtLocationStateComponent(storage)
      {
      }
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentNextFrame : public DtStaticLocationStateComponent
   {
   public:
      DtStaticLocationStateComponentNextFrame(DtStateData*);
      virtual ~DtStaticLocationStateComponentNextFrame() override;

      virtual const DtUUID& hostGlobalId() const override;
      virtual void setHostGlobalId(const DtUUID& id) override;

      virtual const DtVector location() const override;
      virtual void setLocation(const DtVector&) override;

      virtual const bool locationChanged() const override;

      virtual const double heading() const override;
      virtual const double pitch() const override;
      virtual const double roll() const override;

      virtual const int objectAttachMode() const override;
      virtual const DtVector& worldPosition() const override;
      virtual const DtVector& relativePosition() const override;
      virtual const DtVector& parentPosition() const override;
      virtual const DtVector& localPosition() const override;
      virtual const DtDcm& worldOrientationMatrix() const override;
      virtual const bool localPositionIsValid() const override;
      virtual const bool frozen() const override;
      virtual void setFrozen(const bool&) override;

      virtual const DtDcm& parentOrientationMatrix() const override;
      virtual void setLocalOrientationMatrix(const DtDcm&) override;

      virtual const DtDcm& localOrientationMatrix() const override;

      virtual void setLocalPosition(const DtVector&) override;
      virtual void setWorldPosition(const DtVector&) override;
      virtual void setParentPosition(const DtVector&) override;
      virtual void setWorldOrientationMatrix(const DtDcm&) override;

      virtual const DtTaitBryan orientation() const override;
      virtual void setOrientation(const DtTaitBryan&) override;

      virtual const DtTaitBryan& worldOrientation() const override;
      virtual const DtTaitBryan& topographicOrientation() const override;
      virtual const DtTaitBryan& parentOrientation() const override;
      virtual const DtTaitBryan& localOrientation() const override;

      virtual void setLocalOrientation(const DtTaitBryan&) override;
      virtual void setLocalOrientationWrtDatabase(const DtTaitBryan&) override;
      virtual const DtTaitBryan& localOrientationWrtDatabase() const override;
      virtual void setWorldOrientation(const DtTaitBryan&) override;
      virtual void setParentOrientation(const DtTaitBryan&) override;

      void setCoordinateSystem(const Coordinate_System* cs);
      virtual void setKinematicState(const DtRwVrfKinematicState&) override;
      virtual const DtRwVrfKinematicState& kinematicState() const override;

      const bool spatiallyFrozen() const;

      virtual void makeWritable() override;

      virtual void makeReadOnly() override;

      void advanceFrame();

   protected:
      DtRwVrfKinematicState* myKinematicState;
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentCurrentFrame : public DtStaticLocationStateComponent
   {
   public:
      DtStaticLocationStateComponentCurrentFrame(DtStateData*);
      virtual ~DtStaticLocationStateComponentCurrentFrame() override;

      virtual const DtUUID& hostGlobalId() const override;

      virtual const bool localPositionIsValid() const override;
      virtual const DtVector location() const override;

      virtual const DtVector& worldPosition() const override;
      virtual const DtVector& relativePosition() const override;
      virtual const DtVector& parentPosition() const override;

      virtual const DtDcm& parentOrientationMatrix() const override;

      virtual const DtVector& localPosition() const override;

      virtual const int objectAttachMode() const override;
      virtual const DtDcm& worldOrientationMatrix() const override;
      virtual const DtDcm& localOrientationMatrix() const override;
      virtual const DtTaitBryan& localOrientationWrtDatabase() const override;

      virtual const double heading() const override;
      virtual const double pitch() const override;
      virtual const double roll() const override;

      virtual const DtTaitBryan orientation() const override;
      virtual const DtTaitBryan& worldOrientation() const override;
      virtual const DtTaitBryan& topographicOrientation() const override;
      virtual const DtTaitBryan& parentOrientation() const override;
      virtual const DtTaitBryan& localOrientation() const override;
      virtual const bool frozen() const override;

      virtual const bool locationChanged() const override;

      void setCoordinateSystem(const Coordinate_System* cs);
      void refreshKinematicState() const;
      virtual const DtRwVrfKinematicState& kinematicState() const override;

      const bool spatiallyFrozen() const;

   protected:
      friend class DtStaticLocationStateComponentImplementation;
      void setLocationChanged(bool);
      virtual void setKinematicState(const DtRwVrfKinematicState&) override;

   protected:
      mutable tbb::mutex myKinematicStateMutex;
      mutable DtRwVrfKinematicState* myKinematicState;
      bool myLocationChanged;
   };

   class DT_DLL_vrfStateData DtStaticLocationStateComponentImplementation : public DtDoubleBufferedStateComponent<DtStaticLocationStateComponent>
   {
   public:
      DtStaticLocationStateComponentImplementation(DtStateData* sd);

      bool isDoubleBuffered() { return true; };
      virtual const DtFrameStateInterface* currentFrameState() const override { return &myCurrentFrameState; }
      virtual DtFrameStateInterface* nextFrameState() override { return &myNextFrameState; };
      virtual const DtFrameStateInterface* nextFrameState() const override { return &myNextFrameState; };

      virtual void setCoordinateSystem(const Coordinate_System*) override;

      virtual void updateDataStorage() override;

      virtual void updateStateData(DtStateData* sd) override
      {
         myCurrentFrameState.updateStateData(sd);
         myNextFrameState.updateStateData(sd);
      }

      virtual bool forceAdvance() override;

      virtual void aboutToBeDeleted() override
      {
         DtDoubleBufferedStateComponent<DtStaticLocationStateComponent>::aboutToBeDeleted();
         myCurrentFrameState.aboutToBeDeleted();
         myNextFrameState.aboutToBeDeleted();
      }

   protected:
      DtStaticLocationStateComponentCurrentFrame myCurrentFrameState;
      DtStaticLocationStateComponentNextFrame myNextFrameState;
   };

   typedef DtStateComponentCreator<DtStaticLocationStateComponentImplementation> DtStaticLocationStateComponentCreator;
}