simKinematicState.h

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


#include "vrfobjcore/kinematicStateCS.h"
#include "vrfutil/readerWriter.h"
#include <vlpi/disEnums.h>
#include "vrfobjcore/coordSysValidationVector.h"
#include "vrfutil/rwVector.h"
#include "vrfutil/vertexList.h"

#include <matrix/vlTaitBryan.h> 

class DtVertexList;
class DtSimObjectStateRepository;
class DtRwVectorIterator;

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

   DtSimKinematicState(DtSimObjectStateRepository* stateRep,
      const DtString& name = DtString::nullString(), 
      DtReaderWriterRegistry * parentRegistry = NULL);

   DtSimKinematicState(DtSimObjectStateRepository* stateRep,
      const DtSymbolString& name, 
      DtReaderWriterRegistry * parentRegistry = NULL);

   DtSimKinematicState(const DtSimKinematicState& orig,
      const DtString& name = DtString::nullString(), 
      DtReaderWriterRegistry * parentRegistry = 0);

   DtSimKinematicState(const DtSimKinematicState& orig,
      const DtSymbolString& name, 
      DtReaderWriterRegistry * parentRegistry = 0);

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

   virtual ~DtSimKinematicState();

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

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

   virtual const DtVector& parentPosition() const;
   virtual void setParentPosition(const DtVector& position);

   virtual const DtVector& parentVelocity() const;
   virtual void setParentVelocity(const DtVector& velocity, 
      bool recomputeSpeed = true);
   virtual DtReal parentSpeed() const;

   virtual const DtVector& parentAcceleration() const;
   virtual void setParentAcceleration(const DtVector& acceleration);

   virtual const DtTaitBryan& parentOrientation() const;
   virtual void setParentOrientation(const DtTaitBryan& orientation, 
      DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

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

   virtual const DtVector& worldPosition() const;
   virtual void setWorldPosition(const DtVector& position);

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

   virtual DtReal worldSpeed() const;

   virtual const DtVector& worldAcceleration() const;
   virtual void setWorldAcceleration(const DtVector& acceleration);

   virtual const DtTaitBryan& worldOrientation() const;
   virtual void setWorldOrientation(const DtTaitBryan& orientation, 
      DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

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

   virtual DtVector bodyVelocity() const;
   virtual DtTaitBryan topoEuler() const;
   virtual double heading() const;
   virtual double pitch() const;
   virtual double roll() const;

   virtual const DtVector& rotationalVelocity() const;
   virtual void setRotationalVelocity(const DtVector& rotationalVelocity);

   virtual DtKinematicStateCS::DtRotationConstraint rotationConstraint()
      const;

   virtual void setRotationConstraint(
      DtKinematicStateCS::DtRotationConstraint constraint);

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

   virtual DtSimObjectStateRepository* stateRepository() const;

   virtual void parentKinematicsChanged();

   DtCoordSysValidationVector& parentVV();
   DtCoordSysValidationVector& worldVV();

   virtual void putSelf(FILE *fp, int indentLevel = 0, bool writeUnspecified = false,
      const DtFilename& path = DtReaderWriter::appPath());

   virtual void validateParentState();
   virtual void validateWorldState();
   virtual void validateState();

   virtual void clearWorldVertices();
   virtual void copyWorldVertices(const DtList&);

public:
   virtual void addWorldVertex(const DtVector& vertex, DtVector& newGeometricCenter);

   virtual void setWorldVertices(const DtVertexList& vertices, DtVector& newGeometricCenter);
   virtual void setWorldVertices(const DtList& vertices, DtVector& newGeometricCenter);

   virtual const DtVertexList& worldVertices() const;
   virtual const DtRwVectorIterator& worldVertexIterator() const;

   virtual void removeVertex(int);

   virtual void setGeometryNeedsUpdate(bool);

   virtual void invalidateWorldGeometry();

protected:

   virtual const DtKinematicStateCS& parentKinematicState() const;
   virtual DtKinematicStateCS& parentKinematicState();

   virtual void setParentKinematicState(
      const DtKinematicStateCS& parentKinematicState);

   virtual const DtKinematicStateCS& worldKinematicState() const;
   virtual DtKinematicStateCS& worldKinematicState();

   virtual void setWorldKinematicState(
      const DtKinematicStateCS& worldKinematicState);

   virtual void setWorldPositionFromParent();

   virtual void setWorldOrientationFromParent();

protected:
   virtual bool calculateGeometricCenter(const DtList& vertices, DtVector& geometricCenter) const;

   virtual void calculateBodyCoordinates(const DtList& worldVertices);

private:

   DtSimKinematicState();

protected:
   DtKinematicStateCS myParentKinematicState;


   DtKinematicStateCS myWorldKinematicState;
   mutable DtVertexList       myWorldVertices;


   DtCoordSysValidationVector myParentVV;
   DtCoordSysValidationVector myWorldVV;

   DtRwVector             myRotationalVelocity;


   DtSimObjectStateRepository* myStateRepository;

   DtTaitBryan            myTopoEuler;
   bool                   myTopoInvalid;

   mutable bool           myObjectGeometryInvalid;
};

inline void DtSimKinematicState::setGeometryNeedsUpdate(bool b)
{
   myObjectGeometryInvalid = b;
}