include/vrfmodel/rotWngColAvod.h

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/*******************************************************************************
** Copyright (c) 2000 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: rotWngColAvod.h,v $ $Revision: 1.28 $ $State: Exp $
*******************************************************************************/



#ifndef DtRotaryWingCollisionAvoidanceController_H_
#define DtRotaryWingCollisionAvoidanceController_H_

#include "vrfmodel/rotWngMvToCtl.h"
#include <vl/hostStructs.h>
#include "vrfobjcore/filteredObjList.h"

#include <vl/objectId.h>

class DtRotaryWingColAvoidanceControllerDescriptor;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtRotaryWingCollisionAvoidanceController : public DtRotaryWingMoveToControllerComponent
{

public:

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

   virtual ~DtRotaryWingCollisionAvoidanceController();
   virtual bool init();

   virtual void tick();
   
   virtual DtVrfObject * detectCollision();

   virtual bool checkEntityForCollision(DtVrfObject * collidee);

   virtual void avoidCollision(DtVrfObject * collidee);

   virtual void processExistingCollision();

   virtual DtString type() const;

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

   virtual bool distCleared();

   virtual double timeToMinimumDistance(const DtVector & deltaVel,
      const DtVector & deltaPos) const;

   virtual void registerTaskMsgCallbacks();

   virtual void clearCollision();

protected:



   DtRotaryWingCollisionAvoidanceController();

   DtRotaryWingCollisionAvoidanceController
      (const DtRotaryWingCollisionAvoidanceController& orig);

   DtRotaryWingCollisionAvoidanceController& operator=
      (const DtRotaryWingCollisionAvoidanceController& orig);


   virtual void checkMinDiveAltitude();

   virtual void pilotProperties();

protected:
   DtManagedObjectListConstPtr myPhysicalEntityList;

   DtVector             myEvadeDirection;
   DtReal               myRelativeVelMag;
   DtReal               myCurrentDistanceSq;
   DtVector             myClearingPt;

   DtObjectId           myObjectId;
   DtObjectId           myCollidee;
   bool           myHavePortGroup;
   bool           myIsColliding;
   bool           myIsClearing;
   bool           myTooLow;
   DtRotaryWingColAvoidanceControllerDescriptor * 
      myAvoidanceControllerDescriptor;
};

#endif