CscSimulationWorld_8h_source.html

/*

 * CscSimulationWorld.h

 *

 *  Created on: 31 mai 2014

 *      Author: ilieszaoui

 */


#ifndef CSCSIMULATIONWORLD_H_

#define CSCSIMULATIONWORLD_H_


#include "ArtificialIntelligence/CscObjectiveAi.h"

#include "CoreObjects/CscEntityModel.h"

#include "CoreObjects/CscMember.h"

#include "CoreObjects/CscMemberJoint.h"

#include "CoreObjects/CscPropeller.h"

#include "CscCommon.h"

#include "Knowledge/CscKnowledgeItem.h"

#include "Knowledge/CscKnowledgeItemSequence.h"

#include "Knowledge/CscKnowledgeItemState.h"

#include "Knowledge/CscKnowledgeItemTarget.h"

#include "Simulator/CscPhysicsSimulator.h"

#include <algorithm>


using namespace conscience_core::simulator;


namespace conscience_core::ai {


class CSC_DLL_IMPORTEXPORT CscSimulationWorld {

private:

    CscPhysicsSimulator *physicsSimulator;

    const CscWorldEntity *entity;

    vector<CscObjectiveAi *> *objectives;


    CscObjectiveAi *currentObjectiveUnderAnalysis = nullptr;

    CscObjectiveAi *currentObjectiveUnderUsage = nullptr;


    int objectiveIndex;


    constexpr static float constSpeedValueCoefficient = 0.1;


    int personByGenerationMaxIn;


    int getNextObjectiveIdToIncrement();

    void sortObjectives();


    void reduceObjectivesCount(int count);

    void resetObjectiveIndex();

    void reduceObjectivesCount();

    void resetCurrentObjective();


    mutable std::recursive_mutex objectivesMutex;


public:

    CscSimulationWorld(const CscWorldEntity *entity);

    virtual ~CscSimulationWorld();


    CscObjectiveAi *nextStep();


    CscObjectiveAi *generateNewObjectiveAi(const string &modelId, CscKnowledgeItem *knowledgeItemIn, CscState *initialState, CscEnvironmentSimulator &environmentSimulator);


    CscSequence *processKnowledgeItem(const string &modelId, CscKnowledgeItem *knowledgeItemIn, CscState *initialState, CscEnvironmentSimulator &environmentSimulator);


    bool hasObjectiveWithThisInitialState(CscState *stateIn, CscKnowledgeItem *knoItemIn) const;

    CscObjectiveAi *getObjectiveWithThisInitialState(CscState *stateIn, CscKnowledgeItem *knoItemIn) const;

    CscObjectiveAi *getObjectiveFromId(int objectiveId) const;

    CscObjectiveAi *getObjectiveFromIndex(int objectiveIndex) const;


    string toString();


    int countPivots() const;

    int countPropellers() const;

    int countWheels() const;

    int countObjectives() const;


    CscObjectiveAi *getCurrentObjectiveUnderAnalysis() const;

    CscObjectiveAi *getCurrentObjectiveUnderUsage() const;


    void purgeObjectives();

    void removeObjectivesByAITypes(CscArtificialIntelligenceType type);


    CscPhysicsSimulator *getPhysicsSimulator() const {

        return physicsSimulator;

    }


    CscState *fillStateInputs(const CscState *incompleteState) const;


    void changeIKTargetFromObjectiveId(int objectiveId, vector<CscJacobianInverseKinematic::TargetIKParams *> targets);


    const CscWorldEntity *getEntity() const;

};


}


#endif /* CSCSIMULATIONWORLD_H_ */