DtAttachableDeadReckonUpdater.h

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/****************************************************************************** 
** Copyright (c) 2013 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 
 
 
#pragma once
 
#include <vrvCore/vrvCore.h>
#include <vrvCore/DtDe.h>
#include <vrvCore/DtSceneObjectUpdater.h>

#include <string>

class DtVector;
class DtTaitBryan;

namespace makVrv 
{ 
   class DtAttachableUpdater;
   class DtDeadReckonUpdater;

   class DT_DLL_VRVCORE DtAttachableDeadReckonUpdater : public DtSceneObjectUpdater
   { 
   public:

      DtAttachableDeadReckonUpdater(DtDe& de, DtUniqueID id, bool suppressTick = false );

      virtual ~DtAttachableDeadReckonUpdater();
      
      virtual void update( DtTime tNow );

      virtual void deadReckonAndAttach( DtTime tNow );
      
      virtual void addAttachedPoint( const DtVector& position, int targetVertexIndex );
      
      virtual void addAttachedPoint( DtUniqueID uniqueID, int targetVertexIndex );
      
      virtual void addAttachedPoint( DtUniqueID uniqueID, int vtx1, int vtx2, 
         double proportion, int targetVertexIndex );

      virtual void setPosition(const DtVector& position);
      virtual void setPosition(const DtVector& position, double simTime);

      virtual void setOrientation(const DtTaitBryan& ori);
      virtual void setOrientation(const DtTaitBryan& ori, double simTime);

      virtual void setVelocity(const DtVector& velocity);
      virtual void setVelocity(const DtVector& velocity, double simTime);

      virtual void setAcceleration(const DtVector& acceleration);
      virtual void setAcceleration(const DtVector& acceleration, double simTime);

      virtual void setAngularVelocity(const DtVector& angularVelocity);
      virtual void setAngularVelocity(const DtVector& angularVelocity, double simTime);

      virtual void setDeadReckoningSettings(bool deadReckonPosition, 
         bool deadReckonVelocity, bool deadReckonOrientation);

      virtual void setSmoothingEnabled(bool enabled);

      virtual void setSmoothingPeriod(float period);

      virtual void updateSpacial(double simulationTime);
     
      void setMotionModel(const std::string& modelName);

      virtual void setSceneObject( DtSceneObject* sceneObject );

      virtual void setUseAbsoluteTimeStamping(bool);

      virtual const DtVector& approxLocation(DtTime curTime) const;

      virtual const DtVector& approxVelocity(DtTime curTime) const;

      virtual const DtTaitBryan& approxEuler(DtTime curTime) const;

      virtual const DtVector& acceleration(DtTime curTime) const;

      virtual const DtVector& rotationalVelocity(DtTime curTime) const;

   protected:
      
      DtAttachableUpdater* myAttachableUpdater;
      DtDeadReckonUpdater* myDeadReckonUpdater;

   }; 
}