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[ryzomcore.git] / ryzom / tools / reynolds / track.h

// Ryzom - MMORPG Framework <http://dev.ryzom.com/projects/ryzom/>
// Copyright (C) 2010  Winch Gate Property Limited
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Affero General Public License as
// published by the Free Software Foundation, either version 3 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Affero General Public License for more details.
//
// You should have received a copy of the GNU Affero General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.



#ifndef NL_TRACK_H
#define NL_TRACK_H

#include "nel/misc/types_nl.h"
#include "nel/misc/smart_ptr.h"
#include "nel/misc/vector.h"
#include "nel/misc/vectord.h"
#include "nel/misc/entity_id.h"
#include "nel/misc/sheet_id.h"

#include "nel/pacs/u_move_container.h"
#include "nel/pacs/u_move_primitive.h"

#include "nel/georges/u_form.h"
#include "nel/georges/u_form_elm.h"


/**
 * The base class for moving entity
 * \author Benjamin Legros
 * \author Nevrax France
 * \date 2002
 */
class CTrackBase
{
public:
        /// State type
        enum TTrackState
        {
                Idle = 0,                               // not controlled yet
                MovingTowardsTarget,    // first step of motion, moving towards target
                TargetLocked,                   // close to target, locked
                TargetLost,                             // target moved away, can't reach it any longer
                TargetUnreachable               // can't reach target, too far or too many obstacles on the way
        };

        /// Get Id
        virtual const NLMISC::CEntityId &getId() const = 0;

        /// Get SheetId
        virtual const NLMISC::CSheetId  &getSheetId() const = 0;

        /// Has Id ?
        virtual bool    hasId() const = 0;

        /// Get track Position
        virtual void    getPosition(NLMISC::CVectorD &pos, float &heading) const = 0;

        /// Has Position ?
        virtual bool    hasPosition() const = 0;

        /// Set user data
        virtual void    setUserData(void *data) = 0;

        /// Get user data
        virtual void    *getUserData() = 0;

        /// Get Track state
        virtual TTrackState     getTrackState() const = 0;
};

/**
 * A track that represents a moving point
 * \author Benjamin Legros
 * \author Nevrax France
 * \date 2002
 */
class CTrack : public CTrackBase, public NLMISC::CRefCount
{
public:
        /**
         * The sheet type read by Georges
         */
        class CSheet
        {
        public:
                CSheet(): WalkSpeed(1.3f), RunSpeed(6.0f), Radius(0.5f), Height(2.0f), Length(1.0), Width(1.0) {}

                /// The Walk speed of the entity
                float   WalkSpeed;
                /// The Run speed of the entity
                float   RunSpeed;
                /// The Pacs radius of the entity
                float   Radius;
                /// The Height radius of the entity
                float   Height;
                /// The Animation length of the entity
                float   Length;
                /// The Width length of the entity
                float   Width;

                void readGeorges (const NLMISC::CSmartPtr<NLGEORGES::UForm> &form, const NLMISC::CSheetId &sheetId)
                {
                        // the form was found so read the true values from George
                        form->getRootNode ().getValueByName (WalkSpeed, "Basics.MovementSpeeds.WalkSpeed");
                        form->getRootNode ().getValueByName (RunSpeed, "Basics.MovementSpeeds.RunSpeed");
                        form->getRootNode ().getValueByName (Radius, "Collision.CollisionRadius");
                        form->getRootNode ().getValueByName (Height, "Collision.Height");
                        form->getRootNode ().getValueByName (Width, "Collision.Width");
                        form->getRootNode ().getValueByName (Length, "Collision.Length");
                }

                void serial (NLMISC::IStream &s)
                {
                        s.serial (WalkSpeed, RunSpeed);
                        s.serial (Radius, Height);
                        s.serial (Length, Width);
                }

                static uint getVersion () { return 1; }

                /// The default sheet
                static CSheet   DefaultSheet;
        };

public:

        /// Constructor
        CTrack() :      _OwnControl(NULL), _MoveContainer(NULL), _MovePrimitive(NULL),
                                _Id(NLMISC::CEntityId::Unknown), _SheetId(NLMISC::CSheetId::Unknown), _Sheet(NULL), _Followed(NULL),
                                _HasPosition(false), _HasId(false), _IdRequested(false), _PositionUpdatesRequested(false), _IsStatic(false),
                                _ForceRelease(false), _ReceiveVision(false), _UserData(NULL), _State(Idle),
                                _SmoothedTargetDistanceDelta(3.0), _LastTargetDistance(-1.0)

        {
        }

        /// Destructor
        ~CTrack();

        /// Init track
        void    setId(const NLMISC::CEntityId &id, const NLMISC::CSheetId &sheet);

        /// Get Id
        const NLMISC::CEntityId &getId() const
        {
                return _Id;
        }

        /// Get SheetId
        const NLMISC::CSheetId  &getSheetId() const
        {
                return _SheetId;
        }

        /// Get SheetId
        const CSheet    *getSheet() const
        {
                return _Sheet;
        }

        /// Has Id ?
        bool    hasId() const
        {
                return _HasId;
        }



        /// Update track position
        void    setPosition(const NLMISC::CVectorD &pos, float heading)
        {
                // don't allow more than one position to be set when control is owned
                if (_HasPosition && _OwnControl)
                        return;
                _Position = pos;
                _Heading = heading;
                _HasPosition = true;
        }

        /// Get track Position
        void    getPosition(NLMISC::CVectorD &pos, float &heading) const
        {
                if (_HasPosition)
                {
                        pos = _Position;
                        heading = _Heading;
                }
                else
                {
                        nlwarning("ReynoldsLib:CTrack:getPosition(): Track %s position not yet set", _Id.toString().c_str());
                }
        }

        /// Set Static state
        void    setStatic(bool isstatic = true)
        {
                _IsStatic = isstatic;
        }



        /// Has Control Owned ?
        bool    hasControlOwned() const
        {
                return _OwnControl;
        }

        /// Has Position ?
        bool    hasPosition() const
        {
                return _HasPosition;
        }

        /// Invalid position
        void    invalidPosition()
        {
                _HasPosition = false;
        }

        /// Is static ?
        bool    isStatic() const
        {
                return _IsStatic;
        }



        /// Follow
        void    follow(CTrack *followed);

        /// Leave
        void    leave();

        /// Update
        void    update(double dt);

        /// Update vision
        void    updateVision(const std::vector<NLMISC::CEntityId> &in, const std::vector<NLMISC::CEntityId> &out);

        /// Update vision
        void    updateVision(const std::vector<NLMISC::CEntityId> &vision);

        /// Force release
        void    forceRelease()          { _ForceRelease = true; }



        /// Get current state
        TTrackState     getTrackState() const   { return _State; }




        /// Set user data
        void    setUserData(void *data) { _UserData = data; }

        /// Get user data
        void    *getUserData()                  { return _UserData; }






        /// Get contact distance
        double  rawDistance(const CTrack *other, NLMISC::CVectorD &distance) const
        {
                distance = other->_Position - _Position;
                distance.z = 0.0;
                return distance.norm();
        }

        /// Get contact distance
        double  contactDistance(const CTrack *other, NLMISC::CVectorD &distance, double &rawdistance) const
        {
                rawdistance = rawDistance(other, distance);
                return contactDistanceWithRawDistance(other, distance, rawdistance);
        }

        /// Get contact distance
        double  contactDistanceWithRawDistance(const CTrack *other, NLMISC::CVectorD &distance, double &rawdistance) const
        {
                double  theta = atan2(distance.y, distance.x);
                double  theta1 = _Heading - theta;
                double  theta2 = other->_Heading - theta + 3.1415926535;

                float   l1 = _Sheet->Length,
                                w1 = _Sheet->Width;
                float   l2 = other->_Sheet->Length,
                                w2 = other->_Sheet->Width;

                double  r1 = 0.5 * sqrt( l1*l1 + (w1*w1-l1*l1)*NLMISC::sqr(sin(theta1)) );
                double  r2 = 0.5 * sqrt( l2*l2 + (w2*w2-l2*l2)*NLMISC::sqr(sin(theta2)) );

                return rawdistance - r1 - r2;
        }



protected:

        /// Own Control
        void    acquireControl();

        /// Release Control
        void    releaseControl();

        /// Acquire vision
        void    acquireVision();

        /// Release vision
        void    releaseVision();

        /// Create Move primitive
        void    createMovePrimitive();

        /// Delete Move primitive
        void    deleteMovePrimitive();

        /// Check has position (ask for it if necessary)
        bool    isValid()
        {
                if (!hasId())
                        return false;

                if (!hasPosition())
                {
                        if (!hasControlOwned() && !_PositionUpdatesRequested)
                                requestPositionUpdates();
                        return false;
                }
                return true;
        }

        /// Request Id
        void    requestId();

        /// Request Position
        void    requestPositionUpdates();

protected:


        /// @name Track Id
        //@{

        /// Has Id
        bool                                            _HasId;

        /// Id Requested
        bool                                            _IdRequested;

        /// Entity Id
        NLMISC::CEntityId                       _Id;

        /// Sheet Id
        NLMISC::CSheetId                        _SheetId;

        /// Sheet
        const CSheet                            *_Sheet;

        /// Is static
        bool                                            _IsStatic;

        //@}



        /// @name Track Position Control
        //@{

        /// Own control
        bool                                            _OwnControl;

        /// Has Position
        bool                                            _HasPosition;

        /// Id Requested
        bool                                            _PositionUpdatesRequested;

        /// Position
        NLMISC::CVectorD                        _Position;

        /// Heading
        float                                           _Heading;

        /// Followed track
        NLMISC::CSmartPtr<CTrack>       _Followed;

        //@}



        /// @name Track PACS 
        //@{

        /// Move Container
        NLPACS::UMoveContainer          *_MoveContainer;

        /// Move Primitive
        NLPACS::UMovePrimitive          *_MovePrimitive;

        //@}



        /// @name Misc
        //@{

        /// Force release
        bool                                            _ForceRelease;

        /// Vision container
        typedef std::map<NLMISC::CEntityId, NLMISC::CSmartPtr<CTrack> > TVision;

        /// Vision
        TVision                                         _Vision;

        /// Receive vision
        bool                                            _ReceiveVision;

        /// User data
        void                                            *_UserData;

        /// Track state
        TTrackState                                     _State;

        /// Last move cycle
        uint32                                          _LastMoveCycle;

        /// Last target distance
        double                                          _LastTargetDistance;

        /// Smoothed target distance
        double                                          _SmoothedTargetDistanceDelta;

        //@}

public:
        /// @name Target attraction control
        //@{

        /// Required target spacing
        static double                           TargetSpacing;

        /// Target attraction strength
        static double                           TargetAttraction;

        /// Target attraction amplification
        static double                           TargetAmp;

        //@}


        /// @name Obstacle repulsion control
        //@{

        /// Fast obstacle exclusion distance
        static double                           ObstacleExcludeDistance;

        /// Required obstacle spacing
        static double                           ObstacleSpacing;

        /// Obstacle repulsion strength
        static double                           ObstacleRepulsion;

        /// Obstacle repulsion amplification
        static double                           ObstacleAmp;

        //@}


        /// @name Track motion control
        //@{

        /// Minimum motion distance
        static double                           MinimumMotion;

        /// Lock distance threshold
        static double                           LockThreshold;

        /// Lose distance threshold
        static double                           LoseThreshold;

        /// Stabilise cycle
        static uint32                           StabiliseCycle;

        //@}
};


#endif // NL_TRACK_H

/* End of track.h */