kinematicStateCS.h

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/*******************************************************************************
** Copyright (c) 2001 MaK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
#pragma once


#include "readerWriter/rwVector.h"
#include "vrfutil/rwTaitBryan.h"

#include <matrix/LibMatrix.h>

class Coordinate_System;


#include "vrfobjcore/vrfobjcoreDefines.h"
class DT_DLL_vrfobjcore DtKinematicStateCS : public DtReaderWriter
{
public:

enum DtSimOrientationType
{
   BodyToLocal,
   BodyToBody,
   BodyToGeocentric
};

enum DtRotationConstraint
{
   FixedRotation,
   RotateAboutX,
   RotateAboutY,
   RotateAboutZ,
   UnconstrainedRotation
};

public:
   DtKinematicStateCS(DtSimOrientationType orientationType,
      const DtString& name = DtString::nullString(), 
      DtReaderWriterRegistry* parentRegistry = NULL);

   DtKinematicStateCS(DtSimOrientationType orientationType,
      const DtSymbolString& name, 
      DtReaderWriterRegistry* parentRegistry = NULL);

   DtKinematicStateCS(const DtKinematicStateCS& orig,
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry* parentRegistry = NULL);

   DtKinematicStateCS(const DtKinematicStateCS& orig,
      const DtSymbolString& name, 
      DtReaderWriterRegistry* parentRegistry = NULL);

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

   virtual ~DtKinematicStateCS();

   virtual DtKinematicStateCS* clone(
      const DtString& name = DtString::nullString(), 
      DtReaderWriterRegistry* parentRegistry = NULL) const;

   virtual DtKinematicStateCS* clone(
      const DtSymbolString& name, 
      DtReaderWriterRegistry* parentRegistry = NULL) const;

   virtual const DtVector& position() const;
   virtual void setPosition(const DtVector& position);

   virtual const DtVector& velocity() const;
   virtual void setVelocity(const DtVector& velocity, 
      bool recomputeSpeed = true);

   virtual DtReal speed() const;
   virtual void setSpeed(DtReal speed);

   virtual const DtVector& acceleration() const;
   virtual void setAcceleration(const DtVector& acceleration);

   virtual const DtTaitBryan& orientation() const;

   virtual void setOrientation(const DtTaitBryan& orientation, 
      DtRotationConstraint recomputeMatrix = RotateAboutX);

   virtual const DtDcm& orientationMatrix() const;
   virtual void setOrientationMatrix(const DtDcm& orientationMatrix, 
      bool recomputeEulers = true);

   virtual DtSimOrientationType orientationType() const;
   virtual void setOrientationType(DtSimOrientationType orientationType);

   virtual DtRotationConstraint rotationConstraint() const;
   virtual void setRotationConstraint(DtRotationConstraint contraint);

   virtual void setCoordinateSystem(const Coordinate_System* coordinateSystem);

   virtual void getSelf(DtlObjPtr args, const DtReaderWriter::SearchPaths& searchPaths,
      const DtVariableBindingsList& variableBindings);  

private:
   
   DtKinematicStateCS();

protected:
   mutable DtRotationConstraint myRecomputeMatrix;
   mutable bool                 myRecomputeEulers;
   mutable bool                 myRecomputeSpeed;

   DtRwVector                   myPosition;
   DtRwVector                   myVelocity;
   DtRwVector                   myAcceleration;

   DtSimOrientationType         myOrientationType;
   mutable DtRwTaitBryan        myOrientation;
   mutable DtDcm                myOrientationMatrix;
   DtRotationConstraint         myCurrentRotationConstraint;

   mutable DtReal               myCurrentSpeed;   

   const Coordinate_System*     myCoordinateSystemPtr;

   DtRwTaitBryan        myTopoOrientation;
};