include/vrfmodel/missileCntlr.h

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/*******************************************************************************
** Copyright (c) 1999 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: missileCntlr.h,v $ $Revision: 1.27 $ $State: Exp $
*******************************************************************************/



#ifndef DtMissileControllerComponent_H_
#define DtMissileControllerComponent_H_


#include "vrfobjcore/singleTaskControllerComponent.h"
#include <matrix/vlVector.h>

class DtString;
class DtSimManager;
class DtConstrainedAnalogOutputPort;
class DtBooleanOutputPort;
class DtMissileStateRepository;
class DtTaitBryan;
class DtMissileFlightPSR;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtMissileControllerComponent : public DtSingleTaskControllerComponent
{
public:

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

   virtual ~DtMissileControllerComponent();

   virtual bool init();

   virtual DtString type() const;

   virtual double distanceToTarget() const;

   virtual double approximateThrust(double speed) const;

   virtual void calculateSteering(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetVelocity,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut) = 0;

   virtual void calculateSteeringToPoint(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut);

   virtual void calculateSteeringUsingPropNav(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetVelocity,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut);

   virtual bool createMissileControlPortGroup();
   virtual bool createThrustPort();
   virtual bool createManeuverAccelXPort();
   virtual bool createManeuverAccelYPort();
   virtual bool createManeuverAccelZPort();
   virtual bool createSelfDestructPort();

   virtual DtConstrainedAnalogOutputPort * thrustPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelXPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelYPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelZPort();
   virtual DtBooleanOutputPort *           selfDestructPort();

protected:
   
   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void calculateTargetErrorOffset();

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit();

   virtual void addRangeItems();

protected:
   DtMissileControllerComponent();

   DtMissileControllerComponent(const DtMissileControllerComponent & 
      orig);

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


protected:

   DtMissileStateRepository *       myMissileState;

   double                           myDistanceToTarget;


   DtOutputPortGroup *                    myMissileControlPortGroup;

   DtConstrainedAnalogOutputPort *        myThrustPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelXPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelYPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelZPort;

   DtBooleanOutputPort *                  mySelfDestructPort;


   DtVector                         myTargetErrorOffset;

   DtMissileFlightPSR*           myProcessState;
};
#endif