vrfKinematicState.h

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/*******************************************************************************
** Copyright (c) 2007 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: vrfKinState.h,v $ $Revision: 1.37 $ $State: Exp $
*******************************************************************************/
#ifndef vrfKinematicState_H_
#define vrfKinematicState_H_


#include "vrfobjcore/simKinematicState.h"
#include "vrfobjcore/coordSysValidationVector.h"
#include "vrfutil/localVectorIterator.h"

#include "tbb/spin_mutex.h"

#include "vrfobjcore/vrfobjcoreDefines.h"
class DT_DLL_vrfobjcore DtVrfKinematicState : public DtSimKinematicState
{
public:
   DtVrfKinematicState(const Coordinate_System* coordinateSystem,
      DtSimObjectStateRepository* stateRep,
      const DtString& rwName = DtString::nullString(),
      DtReaderWriterRegistry * parentRegistry = 0);

   DtVrfKinematicState(const DtVrfKinematicState& orig,
    const DtString& rwName = DtString::nullString(),
      DtReaderWriterRegistry * parentRegistry = 0);

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

   virtual ~DtVrfKinematicState();

   virtual DtSimKinematicState* clone(
      const DtString& rwName = DtString::nullString(),
      DtReaderWriterRegistry * parentRegistry = 0) const;

   virtual void setCoordinateSystem(const Coordinate_System* coordinateSystem);
   virtual const Coordinate_System* coordinateSystem() const;

   virtual const DtVector& localPosition() const;
   virtual void setLocalPosition(const DtVector& localPosition);

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

   virtual const DtVector& localVelocity() const;
   virtual void setLocalVelocity(const DtVector& localVelocity,
      bool recomputeSpeed = true);

   virtual DtReal localSpeed() const;
   virtual void setLocalSpeed(DtReal localSpeed);

   virtual const DtVector& localAcceleration() const;
   virtual void setLocalAcceleration(const DtVector& localAcceleration);

   virtual const DtVector& relativeAcceleration() const;
   virtual void setRelativeAcceleration(const DtVector& localAcceleration);

   virtual const DtVector& relativeVelocity() const;
   virtual void setRelativeVelocity(const DtVector& localVelocity,
      bool recomputeSpeed = true);

   virtual DtVector bodyVelocity() const;

   virtual void invalidateRelativeVelocity();
   virtual void invalidateRelativeAcceleration();

   virtual const DtTaitBryan& localOrientationWrtDatabase() const;
   virtual void setLocalOrientationWrtDatabase(
      const DtTaitBryan& localOrientation,
      DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

   virtual const DtDcm& localOrientationMatrix() const;
   virtual void setLocalOrientationMatrix(const DtDcm& localOrientationMatrix,
      bool recomputeEulers = true);

   virtual void setRotationConstraint(
      DtKinematicStateCS::DtRotationConstraint constraint);

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

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

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

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

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

   virtual void setParentPosition(const DtVector& position);

   virtual void setWorldOrientationMatrix(const DtDcm& orientationMatrix,
      bool recomputeEulers = true);
#if 0
   virtual const DtDcm& worldOrientationMatrix() const;
#endif

   virtual void parentKinematicsChanged();

   DtCoordSysValidationVector& localVV();

   virtual void validateLocalState();
   virtual void validateState();

   virtual const DtTaitBryan& localOrientation() const;
   virtual void setLocalOrientation(const DtTaitBryan& topoOrientation,
     DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

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

   virtual void setLocalVertices(const DtLocalVertexList& vertices, 
      DtVector& newGeometricCenter);
   virtual void setLocalVertices(const DtList& vertices, 
      DtVector& newGeometricCenter);

   virtual const DtLocalVertexList& localVertices() const;
   virtual const DtLocalVectorIterator& localVertexIterator() const;
   virtual void removeVertex(int i);
   virtual void setGeometryNeedsUpdate(bool b);

   virtual void invalidateLocalGeometry();

protected:
   virtual const DtKinematicStateCS& localKinematicState() const;
   virtual DtKinematicStateCS& localKinematicState();

   virtual void setLocalKinematicState(
      const DtKinematicStateCS& localKinematicState);
   virtual void clearLocalVertices();

private:

   DtVrfKinematicState();

protected:

   mutable DtKinematicStateCS myLocalKinematicState;

   DtCoordSysValidationVector myLocalVV;

   const Coordinate_System* myCoordinateSystemPtr;

   DtTaitBryan myTopoOrientation;

   DtVector myRelativeAcceleration;
   bool myRelativeAccelerationInvalid;

   DtVector myRelativeVelocity;
   bool myRelativeVelocityInvalid;

   mutable bool myLocalObjectGeometryInvalid;
   mutable DtLocalVertexList myLocalVertexList;

   mutable tbb::spin_mutex myLocalVerticesMutex;
};


inline void DtVrfKinematicState::setGeometryNeedsUpdate(bool b)
{
   DtSimKinematicState::setGeometryNeedsUpdate(b);

   myLocalObjectGeometryInvalid = b;
}

#endif