OMKMKMMoveToTaskExtension.cpp

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/************************************************************************/
/* This file is part of openMask(c) INRIA, CNRS, Universite de Rennes 1 */
/* 1993-2002, thereinafter the Software                                 */
/*                                                                      */
/* The Software has been developped within the Siames Project.          */
/* INRIA, the University of Rennes 1 and CNRS jointly hold intellectual */
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/* The Software has been registered with the Agence pour la Protection  */
/* des Programmes (APP) under registration number                       */
/* IDDN.FR.001.510008.00.S.P.2001.000.41200                             */
/*                                                                      */
/* This file may be distributed under the terms of the Q Public License */
/* version 1.0 as defined by Trolltech AS of Norway and appearing in    */
/* the file LICENSE.QPL included in the packaging of this file.         */
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/* Licensees holding valid specific licenses issued by INRIA, CNRS or   */
/* Universite Rennes 1 for the software may use this file in            */
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/************************************************************************/
#include "OMKMKMMoveToTaskExtension.h"
#include "OMKAvatarVisualObject.h"
#include "OMKParametersAccessor.inl"
#include "OMKMKMMotionTaskExtension.h"
#include "OMKMKMHeadToTaskExtension.h"
#include "OMKTriggerExtension.h"

using namespace OMK ;
using namespace OMK::Type ;

REGISTER_EXTENSION_FACTORY( MKMMoveToTaskExtension, "MoveToTask" ) ;

//-------------------------------------------------------------------------
// constructor
//-------------------------------------------------------------------------
MKMMoveToTaskExtension::MKMMoveToTaskExtension( OMK::ExtensibleSimulatedObject* owner, const Name& id, bool registerExtension ) 
: ExtensionT< MKMHumano >( owner, id, registerExtension ),
  _activate( Name( id.getString() + "Activation" ), true ),
  _isWaiting( Name( id.getString() + "Reached" ), true ),
  _threshold( Name( id.getString() + "Threshold" ), 1.0f ),
  _speed( Name( id.getString() + "Speed" ), 1.0f ),
  _target( Name( "Target" ), Transform() ),
  _moveTask(),
  _waitTask(),
  _initDone( false ),
  _moveMotion(),
  _waitMotion(),
  _transitionDuration( 1.0f ),
  _weight( 1.0f ),
  _rank( 2.0f )
{
  owner->addAttribute( _activate ) ;
  owner->addAttribute( _isWaiting ) ;
  owner->addAttribute( _threshold ) ;
  owner->addAttribute( _speed ) ;
  owner->addAttribute( _target ) ;
}

//-------------------------------------------------------------------------
// destructor
//-------------------------------------------------------------------------
MKMMoveToTaskExtension::~MKMMoveToTaskExtension()
{
  if( _initDone )
  { // stop the task
    _moveTask.setStoppingDuration( 0.0f ) ;
    _moveTask.stop() ;
    _waitTask.setStoppingDuration( 0.0f ) ;
    _waitTask.stop() ;
    // The destructor does the next step to unregister the task from the controller
  }
}
bool MKMMoveToTaskExtension::loadExtensionParameters( const ConfigurationParameterDescriptor * node ) 
{
  // Retrieve all the parameters
  bool ok = true ;
  ok = ok && ParametersAccessor::get( node, "MoveMotion", _moveMotion, getOwner() ) ;
  ok = ok && ParametersAccessor::get( node, "WaitMotion", _waitMotion, getOwner() ) ;
  ParametersAccessor::get( node, "TansitionDuration", _transitionDuration ) ;
  ParametersAccessor::get( node, "PriorityWeight", _weight ) ;
  ParametersAccessor::get( node, "PriorityRank", _rank ) ;
  _threshold.loadParameters( node, "Threshold" ) ;
  _target.loadParameters( node, "Target" ) ;
  _activate.loadParameters( node, "Activation" ) ;
  _isWaiting.loadParameters( node, "Reached" ) ;
  _speed.loadParameters( node, "Speed" ) ;

  return ok ;
}
void MKMMoveToTaskExtension::preComputeParameters()
{
  // Waiting for the avatar master is intialised
  if( !_initDone && getOwner()->_avatarMaster.isInitialized() )
  {
    // Defines the motion task and starts it
    _initDone = true ;
    // Wait motion
    _waitTask.init( getOwner()->_controlMesh, _waitMotion ) ;
    _waitTask.setStartingDuration( _transitionDuration ) ;
    _waitTask.setStoppingDuration( _transitionDuration ) ;
    _waitTask.setPriorityWeight( _weight ) ;
    _waitTask.setPriorityRank( _rank ) ;
    // Move motion
    _moveTask.init( getOwner()->_controlMesh, _moveMotion ) ;
    _moveTask.setStartingDuration( _transitionDuration ) ;
    _moveTask.setStoppingDuration( _transitionDuration ) ;
    _moveTask.setPriorityWeight( _weight ) ;
    _moveTask.setPriorityRank( _rank ) ;
    // start waiting
    _waitTask.start() ;
  }
  if( _initDone )
  {
    if( _activate.isUpdated() )
    {
      if( !_activate.get() )
      {
        _waitTask.stop() ;
        _moveTask.stop() ;
      }
      else
      {
        if( _isWaiting.get() )
        {
          _waitTask.start() ;
          _moveTask.stop() ;
        }
        else
        {
          _waitTask.stop() ;
          _moveTask.start() ;
        }
      }
    }
    if( _activate.get() )
    {
      Wm4::Vector3f target( _target.get().getTranslate() ) ;  
      mkm::CVector3 pos( getOwner()->_controlMesh.getPosition() ) ;
      float deltaX = -target.X() - pos[mkm::X] ;
      float deltaZ = target.Z() - pos[mkm::Y] ;
      float distance = sqrt( deltaX * deltaX + deltaZ * deltaZ ) ;
      bool mustWait = distance < _threshold.get() ;
      if( mustWait && !_isWaiting.get() )
      { // 
        _waitTask.start() ;
        _moveTask.stop() ;
        _isWaiting.set( true ) ;
      }
      if( !mustWait && _isWaiting.get() )
      { // 
        _waitTask.stop() ;
        _moveTask.start() ;
        _isWaiting.set( false ) ;
      }
      if( !mustWait )
      {
        getOwner()->_controlMesh.setOrientationToMoveToward( deltaX, deltaZ, _speed.get(), false ) ;
      }
    }
  }
}

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