CscEntityModelData_8h_source.html

#ifndef CscEntityModelData_h

#define CscEntityModelData_h


#include "CoreObjects/CscEntityModel.h"


namespace conscience_core::core_objects::exchange {


// TODO LOUIS CS-2365 all fields in those structs are useless because parsing is done after ...


struct CscEntityModelPartDataBase {

public:

    const int id;

    const string name;

    CscPoint3d *const positionMin = nullptr;

    CscPoint3d *const positionMax = nullptr;


    CscEntityModelPartDataBase(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax);

    virtual ~CscEntityModelPartDataBase();

};


struct CscEntityModelMemberData : public CscEntityModelPartDataBase {

    CscEntityModelMemberData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, const vector<const CscPolygon *> &polygons, CscPoint3d *position = nullptr);


    // TODO LOUIS CS-2365 this is dangereous, we need to enhance this

    CscPoint3d * position = nullptr;


    const vector<const CscPolygon *> polygons;

    const double mass = 0.05;

    const double friction = 1.5;

    const double restitution = 0.0;

    const double linearDamping = 0.0;

    const double angularDamping = 0.0;


    virtual ~CscEntityModelMemberData();

};


struct CscEntityModelPivotData : public CscEntityModelPartDataBase {

    CscEntityModelPivotData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, CscPoint3d *positionMemberA = nullptr, CscPoint3d *positionMemberB = nullptr);

    CscPoint3d *const positionMemberA = nullptr;

    CscPoint3d *const positionMemberB = nullptr;

    const double softness = 1.0;

    const double relaxtion = 0.0;

    const double bias = 1.0;

    const double speedMax = 30.0;

    const double maxImpulse = 300.0;

    const bool free = false;

    vector<string> tags = {};


    virtual ~CscEntityModelPivotData();

};


struct CscEntityModelWheelData : public CscEntityModelPartDataBase {

    CscEntityModelWheelData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, CscPoint3d *positionMemberA = nullptr, CscPoint3d *positionMemberB = nullptr);

    CscPoint3d *positionMemberA = nullptr;

    CscPoint3d *positionMemberB = nullptr;

    const double softness = 20.0;

    const double relaxtion = 5.0;

    const double bias = 0.1;

    const double speedMax = 100;

    const bool free = false;


    virtual ~CscEntityModelWheelData();

};


struct CscEntityModelTranslationData : public CscEntityModelPartDataBase {

    CscEntityModelTranslationData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, CscPoint3d *positionMemberA = nullptr, CscPoint3d *positionMemberB = nullptr);

    CscPoint3d *positionMemberA = nullptr;

    CscPoint3d *positionMemberB = nullptr;

    const double softness = 20.0;

    const double relaxtion = 5.0;

    const double bias = 0.05;

    const double speedMax = 1.0;


    virtual ~CscEntityModelTranslationData();

};


struct CscEntityModelPropellerData : public CscEntityModelPartDataBase {

    CscEntityModelPropellerData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, CscPoint3d *positionMemberA = nullptr, CscPoint3d *positionMemberB = nullptr);

    CscPoint3d *positionMemberA = nullptr;

    CscPoint3d *positionMemberB = nullptr;

    const double softness = 20.0;

    const double relaxtion = 5.0;

    const double bias = 0.1;

    const double speedMax = 100;


    virtual ~CscEntityModelPropellerData();

};


struct CscEntityModelVisionData {

    CscEntityModelVisionData(int visionMemberId, CscPoint3d *position);

    const int visionMemberId;

    CscPoint3d *const position = nullptr;


    virtual ~CscEntityModelVisionData();

};


struct CscEntityModelLidarData : public CscEntityModelPartDataBase {

    CscEntityModelLidarData(int id, const string &name, CscPoint3d *positionMin, CscPoint3d *positionMax, CscPoint3d *positionMemberA = nullptr);

    CscPoint3d *positionMemberA = nullptr;

    const double angleFromFront = 0.0;


    virtual ~CscEntityModelLidarData();

};


struct CscEntityModelData {

public:

    const string &modelId;

    string entityType;

    string name;

    string owner;

    vector<CscEntityModelMemberData *> members;

    vector<CscEntityModelPivotData *> pivots;

    vector<CscEntityModelWheelData *> wheels;

    vector<CscEntityModelTranslationData *> translations;

    vector<CscEntityModelPropellerData *> propellers;

    vector<CscEntityModelLidarData *> lidars;

    CscEntityModelVisionData *vision;

    vector<string> params;


    CscEntityModelData(const string &modelId,

                       const string &entityType,

                       const string &name,

                       const string &owner,

                       const vector<CscEntityModelMemberData *> &members,

                       const vector<CscEntityModelPivotData *> &pivots,

                       const vector<CscEntityModelWheelData *> &wheels,

                       const vector<CscEntityModelTranslationData *> &translations,

                       const vector<CscEntityModelPropellerData *> &propellers,

                       const vector<CscEntityModelLidarData *> &lidars,

                       CscEntityModelVisionData *vision,

                       const vector<string> &params);


    CscPoint3d *const positionMin = nullptr;

    CscPoint3d *const positionMax = nullptr;


    virtual ~CscEntityModelData();


    size_t countParams() const;

    double getParamAsFloat(int paramIndex) const;


    CscEntityModel *createModel();


private:

    void sort();


    unique_ptr<CscLogger> logger = CscLogger::getForCategory("CscEntityModelData");


    int calculInitPivotPercentValue(int pivotMin, int pivotMax) const;

    optional<int> getMemberIdByName(const string &name) const;

    CscPoint3d *getMemberPositionByName(const string &name) const;


    CscEntityModelMemberData *getMemberDataByName(const string &pureName) const;


    vector<CscMember *> *createConscienceMembers() const;

    vector<CscMemberJoint *> *createConsciencePivots() const;

    vector<CscMemberWheel *> *createConscienceWheels() const;

    vector<CscPropeller *> *createConsciencePropellers() const;

    vector<CscTranslation *> *createConscienceTranslations() const;

    CscEntityVision *createConscienceEntityVision() const;

    vector<CscEntityLidar *> *createConscienceEntityLidars() const;

};


}


#endif