SimSystem.h

Go to the documentation of this file.

/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __SIM_SYSTEM_H__
#define __SIM_SYSTEM_H__

// Scene graph
#include "System.h"
#include "MengeException.h"

namespace Menge {

    // forward declarations
    class VisAgent;

    namespace Agents {
        class SimulatorInterface;
        class SCBWriter;
    }

    namespace SceneGraph {
        class GLScene;
    }

    namespace BFSM {
        class FSM;
    }

    // Exceptions for the system
    class MENGE_API SimSystemException : public virtual Menge::MengeException {
    public:
        SimSystemException() : Menge::MengeException() {}       

        SimSystemException( const std::string & s ): Menge::MengeException(s) {}
    };

    class MENGE_API SimSystemFatalException : public SimSystemException, public Menge::MengeFatalException {
    public:
        SimSystemFatalException() : Menge::MengeException(), SimSystemException(), Menge::MengeFatalException() {}

        SimSystemFatalException( const std::string & s ): Menge::MengeException(s), SimSystemException(), Menge::MengeFatalException() {}
    };


    class MENGE_API SimSystem : public SceneGraph::System {
    public:

        SimSystem( bool visualize );

        SimSystem( bool visualize, float duration );

        ~SimSystem();

        inline void setMaxDuration( float duration ) {_maxDuration = duration; }

        virtual bool updateScene( float time );

        bool isFinished() const;

        void setSimulator( Agents::SimulatorInterface * sim, BFSM::FSM * fsm );

        // Sets the simulator/fsm for the visualizer - prepares an scb file for writing (with the provided version)
        void setSimulator( Agents::SimulatorInterface * sim, BFSM::FSM * fsm, const std::string & outFileName, const std::string & scbVersion );

        void addObstacleToScene( SceneGraph::GLScene * scene );

        virtual void addAgentsToScene( SceneGraph::GLScene * scene );

        void populateScene( SceneGraph::GLScene * scene );

        
        virtual void updateAgentPosition( int agtCount );

        inline VisAgent ** getVisAgents() { return _visAgents; }

        size_t getAgentCount() const;

    protected:

        bool    _forVis;

        Agents::SimulatorInterface * _sim;

        VisAgent ** _visAgents;

        BFSM::FSM * _fsm;

        Agents::SCBWriter * _scbWriter;

        float   _lastUpdate;

        bool    _isRunning;

        float   _maxDuration;
    };
}   // namespace Menge
#endif  // __VIS_RVO_SIM_H__