include/bhaveSim/bhaveMoveDirectionController.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
* Copyright 2009 Autodesk, Inc.  All rights reserved.
* Use of this software is subject to the terms of the Autodesk license 
* agreement provided at the time of installation or download, or which otherwise
* accompanies this software in either electronic or hard copy form.
*******************************************************************************/

/*******************************************************************************
** $RCSfile: bhaveMoveDirectionController.h,v $ $Revision: 1.3 $ $State: Exp $
*******************************************************************************/


#pragma once

#include <bhaveSim/bhaveSimDefines.h>
#include <vrfmodel/groundMoveDirectionController.h>

class DtAnalogInputPort;
class DtBooleanInputPort;
class DtInputPortGroup;

namespace BHAVE
{
class DtGroundMoveDirectionControllerDescriptor;

const char DtBhaveMoveDirectionControllerType[] = "bhave-move-direction-controller";

class DT_DLL_bhaveSim DtBhaveMoveDirectionController : public DtGroundMoveDirectionController
{
private:
   DtBhaveMoveDirectionController();
   DtBhaveMoveDirectionController(const DtBhaveMoveDirectionController & 
      orig);
   const DtBhaveMoveDirectionController & operator=(const 
      DtBhaveMoveDirectionController & orig);

public:
   DtBhaveMoveDirectionController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtBhaveMoveDirectionController();

   virtual bool init();

   virtual DtString type() const;

   virtual double calculateSteering(double currentHeading, double 
      desiredHeading, bool reverseDirection = false) const;
      
   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

protected:

   virtual bool createPorts();

   virtual bool createTurningDirectionInputPort();

   virtual void setControlsForNormalMove();

   virtual double approximateThrottle(double speed);

protected:

   DtBooleanInputPort* myTurningDirectionInputPort;

};

} //namespace BHAVE