include/vrfmodel/aggregatedMovementActuator.h

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/*******************************************************************************
** Copyright (c) 2008 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: aggregatedMovementActuator.h,v $ $Revision: 1.1 $ $State: Exp $
*******************************************************************************/


#ifndef aggregatedMovementActuator_H_
#define aggregatedMovementActuator_H_


#include "vrfobjcore/actCmpnt.h"
#include "vrfmodel/vrfmodelDefines.h"

class DtInputPortGroup;
class DtAnalogInputPort;
class DtVrfMovingObjectStateRepository;
class DtVrfAggregateStateRepository;
class DtActuatorComponentDescriptor;


class DT_DLL_vrfmodel DtAggregatedMovementActuator : public DtActuatorComponent
{
public:

   DtAggregatedMovementActuator(const DtString& name, DtVrfObject* object, 
      DtSimManager* simManager, DtComponentDescriptor* compDescriptor, 
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtAggregatedMovementActuator();

   virtual bool init();

   virtual DtString type() const;

   virtual void tick();

public:

   static DtSimComponent* creator(const DtString& name, DtVrfObject* object,
      DtSimManager* simManager, DtComponentDescriptor* compDescriptor,
      DtReaderWriterRegistry* parentRegistry);

protected:

   virtual DtVector calculateProjectedLocation(
      const DtVector& oldLocalPosition, const DtVector& newBodyVelocity,
      double newHeading);

   virtual void calculateOrientationAndPosition(
      const DtVector& newLocalProjectedLocation, double newHeading,
      DtDcm& newLocalOrientation, DtVector& newLocalPosition);
   
   virtual void groundClamp(double heading, 
      const DtVector& location, DtAttachedTerrain& terrainDatabase, DtVector& newNormal);

   virtual void updateRepository(const DtVector & position,
      const DtVector & velocity, const DtVector & acceleration,
      const DtTaitBryan & localOrientation, const DtVector& rotationalVelocity);

protected:
   virtual bool createPorts();

   virtual bool createPortGroups();

   DtAggregatedMovementActuator(const DtAggregatedMovementActuator & orig);

   const DtAggregatedMovementActuator & operator=(const DtAggregatedMovementActuator & orig);

protected:

   DtAnalogInputPort* myMovementDirectionInputPort;

   DtAnalogInputPort* mySpeedInputPort;

   DtInputPortGroup* myMovementControlPortGroupInputPortGroup;

   DtVrfMovingObjectStateRepository* myMovingObjectStateRepository;
   DtVrfAggregateStateRepository* myAggregateStateRepository;

   const DtActuatorComponentDescriptor* myActuatorDescriptor;

};

#endif