OMK::MKMMoveToTaskExtension Class Reference

#include <OMKMKMMoveToTaskExtension.h>

Inheritance diagram for OMK::MKMMoveToTaskExtension:

[legend]Collaboration diagram for OMK::MKMMoveToTaskExtension:

[legend]List of all members.

Protected Member Functions
virtual bool	loadExtensionParameters (const ConfigurationParameterDescriptor *node)
	Configuration parameters loader of Extension.
virtual void	preComputeParameters ()
	method.
Protected Attributes
AttributeT< bool >	_activate
AttributeT< bool >	_isWaiting
AttributeT< float >	_threshold
AttributeT< float >	_speed
AttributeT< Type::Transform >	_target
mkm::CHumanTask_Motion	_moveTask
mkm::CHumanTask_Motion	_waitTask
bool	_initDone
std::string	_moveMotion
std::string	_waitMotion
float	_transitionDuration
float	_weight
float	_rank
Private Member Functions
	DECLARE_EXTENSION_FACTORY (MKMMoveToTaskExtension)

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Detailed Description

Definition at line 32 of file OMKMKMMoveToTaskExtension.h.

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Member Function Documentation

OMK::MKMMoveToTaskExtension::DECLARE_EXTENSION_FACTORY

(

MKMMoveToTaskExtension

)

[private]

bool MKMMoveToTaskExtension::loadExtensionParameters

(

const ConfigurationParameterDescriptor *

node

)

[protected, virtual]

Configuration parameters loader of Extension.

Parameters:

[in]

node

the root node of the configuration parameter, null if no node defined for the extension.

Returns:

should return true if all the parameters are well retrieved.

Overwrite this method to initialise the extension. This method allows the extension to get parameters of its own field.
Be careful, loadObjectParameters method is called before this method.
See How to configure an extension ? for details.

Reimplemented from OMK::Extension.

Definition at line 73 of file OMKMKMMoveToTaskExtension.cpp.

References _activate, _isWaiting, _moveMotion, _rank, _speed, _target, _threshold, _transitionDuration, _waitMotion, _weight, OMK::ParametersAccessor::get(), OMK::ExtensionT< OMK::MKMHumano >::getOwner(), and OMK::IAttributeBaseT< PrmType >::loadParameters().

{
  // 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

(

)

[protected, virtual]

method.

This method is called by the extensible simulated object at each compute step. Its call takes place in the compute method just after the inputs were retrieved by the computeInputs method and before the output parameters will be computed by the computeParameters

Reimplemented from OMK::Extension.

Definition at line 90 of file OMKMKMMoveToTaskExtension.cpp.

References _activate, OMK::MKMHumano::_controlMesh, _initDone, _isWaiting, _moveMotion, _moveTask, _rank, _speed, _target, _threshold, _transitionDuration, _waitMotion, _waitTask, _weight, OMK::IAttributeT< PrmType, ModelType, AccessorType >::get(), OMK::ExtensionT< OMK::MKMHumano >::getOwner(), OMK::IAttribute::isUpdated(), and OMK::IAttributeT< PrmType, ModelType, AccessorType >::set().

{
  // 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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Member Data Documentation

AttributeT< bool > OMK::MKMMoveToTaskExtension::_activate [protected]

Definition at line 38 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

AttributeT< bool > OMK::MKMMoveToTaskExtension::_isWaiting [protected]

Definition at line 39 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

AttributeT< float > OMK::MKMMoveToTaskExtension::_threshold [protected]

Definition at line 40 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

AttributeT< float > OMK::MKMMoveToTaskExtension::_speed [protected]

Definition at line 41 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

AttributeT< Type::Transform > OMK::MKMMoveToTaskExtension::_target [protected]

Definition at line 42 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

mkm::CHumanTask_Motion OMK::MKMMoveToTaskExtension::_moveTask [protected]

Definition at line 43 of file OMKMKMMoveToTaskExtension.h.

Referenced by preComputeParameters().

mkm::CHumanTask_Motion OMK::MKMMoveToTaskExtension::_waitTask [protected]

Definition at line 44 of file OMKMKMMoveToTaskExtension.h.

Referenced by preComputeParameters().

bool OMK::MKMMoveToTaskExtension::_initDone [protected]

Definition at line 45 of file OMKMKMMoveToTaskExtension.h.

Referenced by preComputeParameters().

std::string OMK::MKMMoveToTaskExtension::_moveMotion [protected]

Definition at line 46 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

std::string OMK::MKMMoveToTaskExtension::_waitMotion [protected]

Definition at line 47 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

float OMK::MKMMoveToTaskExtension::_transitionDuration [protected]

Definition at line 48 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

float OMK::MKMMoveToTaskExtension::_weight [protected]

Definition at line 49 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

float OMK::MKMMoveToTaskExtension::_rank [protected]

Definition at line 50 of file OMKMKMMoveToTaskExtension.h.

Referenced by loadExtensionParameters(), and preComputeParameters().

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