include/vrfmodel/fallingFromSkyActuator.h

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/*******************************************************************************
** Copyright (c) 2011 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: fallingFromSkyActuator.h,v $ $Revision: 1.1 $ $State: Exp $
** Created: 5/3/11 MEM
*******************************************************************************/


#pragma once

#include <vlpi/disEnums.h>
#include "vrfobjcore/actCmpnt.h"
#include <matrix/LibMatrix.h>

class DtString;
class DtSimManager;
class DtVrfMovingObjectStateRepository;
class DtFallingFromSkyActuatorDescriptor;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFallingFromSkyActuatorComponent : public DtActuatorComponent
{

public:

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


   virtual ~DtFallingFromSkyActuatorComponent();

   virtual bool init();

   virtual DtString type() const;

   virtual void tick();

   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);


protected:

   virtual void calculateOrientation(const DtDcm&
      oldLocalOrientation, const DtVector& newBodyRotationRates,
      DtDcm& newLocalOrientation);

   virtual void fallFromSky();

   void integrate(const DtVector& oldLocalPosition, 
      const DtVector& oldRelativeVelocity, 
      const DtVector& newRelativeAcceleration, DtVector& newLocalPosition, 
      DtVector& newRelativeVelocity);

   virtual void updateRepository(const DtVector& newLocalPosition,
      const DtVector& newRelativeVelocity, 
      const DtVector& newRelativeAcceleration, 
      const DtDcm& newLocalOrientation, const DtVector& newBodyRotationRates,
      bool isOnGround);

protected:
   
   DtFallingFromSkyActuatorComponent();

   DtFallingFromSkyActuatorComponent(const DtFallingFromSkyActuatorComponent & orig);

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

protected:

   DtVrfMovingObjectStateRepository * myState;
   DtFallingFromSkyActuatorDescriptor * myFallingFromSkyActuatorDescriptor;

   bool           myFirstTick;
};