railMovementUpdater.h

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/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

//#include "railPSR.h"
#include <vector>
#include <matrix/vlVector.h>
#include <matrix/vlTaitBryan.h>
#include <matrix/coordTransform.h>

#include "vrfmodel/railSplineCalculator.h"

class DtVrfMovingObjectStateRepository;
class DtRailMovementController;
class DtRailSegment;
class DtAttachedTerrain;
class DtUpdateRepositoryOutputPortGroup;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtRailMovementUpdater
{

public:

   DtRailMovementUpdater(DtRailMovementController * parentController, bool useTurnSmoothing,
      bool useAcceleration,bool useHighGroundClamp,const DtAttachedTerrain* attachedTerrain);

   virtual ~DtRailMovementUpdater();

   virtual bool init();

   virtual void clear();

   virtual void setEntityState(DtVrfMovingObjectStateRepository* state);

   virtual double setUpTurn(DtRailSegment * currentSeg, DtRailSegment * nextSeg,const int currentLane,
      const int drivingLane,double headingDiff,bool useLocalPos = false,DtVector currentLocalPos = DtVector::zero());

   virtual bool turnValid(int currentLane);

   virtual bool recalculateTurnSpline(DtRailSegment * currentSeg, DtRailSegment * nextSeg,const int currentLane,
                           const int passingLane);

   virtual bool modifyTurnSpline(const DtVector &currentLocalPos,const DtRailSegment * currentSegment,const DtRailSegment * nextSegment, const int currentLane, const int passingLane);

   virtual void setUpLaneSwitch(const DtVector& projectedLocation,DtRailSegment *currentSeg,const int currentLane,
      const int passingLane);

   virtual void update(DtRailSegment *currentSeg,DtRailSegment* nextSeg,
      double drivingSpeed,int passingLane, DtTime simTime = 0.0);

   virtual void updateNoMovement();

   virtual void movementComplete();

   virtual void updateFromPSR(const DtVector localPos, DtRailSegment * currentSeg);


   virtual const DtCoordTransform & localToBodyTransform() const;

   virtual void determinePositionAndSetFromEnd(const DtRailSegment * currentSeg, const int currentLane);


protected:

   virtual void useFuel(double fuelUsed);

   virtual bool checkEntityImmobilized();

   virtual double fuelLeft() const;

   virtual void updateRepository(const DtVector & localPosition, 
      const DtVector & localVelocity, const DtVector & localAcceleration, 
      const DtTaitBryan & localOrientation, const DtVector& rotationalVelocity,
      double newHeading);

   virtual double calculateAcceleration(double desiredSpeed);

   virtual void calculateOrientationAndPosition(
      const DtVector& newLocalProjectedLocation, double newHeading, 
      DtDcm& newLocalOrientation, DtVector& newLocalPosition);
   
   bool groundClamp(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal);

   void groundClampHighFidelity(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal);

   void groundClampLowFidelity(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal);

   virtual DtVector calculateRotationalVelocity(
      const DtTaitBryan& newTopoOrientation, 
      const DtTaitBryan& oldTopoOrientation, double dT);
   
   virtual void calculateDirectionOfLinearMotion(
      const DtDcm& newLocalOrientation, const DtVector& newLocalPosition, 
      DtDcm& newLocalDirectionOfLinearMotion);

   virtual DtVector calculateBodyAcceleration(double desiredSpeed, 
      const DtVector& oldBodyVelocity,double dT);

   virtual DtVector calculateBodyVelocity(
     const DtVector& oldBodyVelocity, const DtVector& newBodyAcceleration,
     double dT);

   virtual DtVector calculateProjectedLocation(
      const DtVector& oldLocalPosition, const DtVector& newBodyAcceleration,
      const DtVector& oldBodyVelocity,const DtVector & newBodyVelocity, double newHeading);

   virtual bool rotationalVelocityShouldBeClamped(const DtVector&
      bodyRotationalVelocity);

   virtual bool passedTurnPoint(double distSq, double & differance);


   virtual DtVector determinePositionAlongNextSegment(DtRailSegment * nextSegment,double distance, double & newHeading,
                                                      int lanePos, DtVector projectedPos);


   virtual void determinePosition(const DtRailSegment * currentSeg, const int currentLane,
                                              DtVector& newLocalProjectedLocation);

private:
   DtRailMovementUpdater();

   DtRailMovementUpdater(const DtRailMovementUpdater & orig);

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

protected:
   DtRailMovementController * myController;
   DtVrfMovingObjectStateRepository * myMovingStateRep;
   const DtAttachedTerrain* myAttachedTerrain;
   DtCoordTransform    myCoordTransform; 
   bool     myUseHighFidelityGroundClamping;

   bool     myUseAcceleration;
   bool     myUseTurnSmoothing;

   double   myDistanceSqToTurn;
   double   myHeadingDiff; 

   DtRailSplineCalculator  myTurnSpline;
   
   DtRailSplineCalculator  myLaneSwitchSpline;
   double   myTurnDistTraveled;
   double   myDistAlongSeg;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

};