swingingPartActuator.h

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/*******************************************************************************
** Copyright (c) 2006 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfLua/luaScriptInterfaceImpl.h"
#include "vrfmodel/bindableLuaComponent.h"

class DtString;
class DtSimManager;
class DtBooleanInputPort;
class DtIntegerOutputPort;   
class DtSimObjectBaseObjectStateRepository;
class DtSwingingPartActuatorDescriptor;
class DtSwingingPartActuatorPSR;

class DT_DLL_vrfmodel DtSwingingPartActuator : public DtActuatorComponent,
   public DtBindableLuaComponent<DtSwingingPartActuator>
{

public:

   DtSwingingPartActuator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtSwingingPartActuator();

   virtual bool init();

   virtual bool postAddComponentsInit();

   virtual DtString type() const;

   virtual void tick();

   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual void bindLuaFunctions(lua_State* L);
   virtual void bindLuaGlobals(lua_State* L);

public:
   virtual void open();

   virtual void reset();

   virtual void close();

   virtual bool isOpened() const;

   virtual bool isClosed() const;

protected:
   virtual bool createPorts();

   virtual DtSwingingPartActuatorPSR* createPSR();

   virtual double currentPosition();

   virtual void setPositionAndRate(double newPos, double newRate);

   virtual bool angleWithinSlewArc(double angle);

private:
   DtSwingingPartActuator();
   DtSwingingPartActuator(const DtSwingingPartActuator & orig);
   const DtSwingingPartActuator & operator=(const 
      DtSwingingPartActuator & orig);

protected:


   DtIntegerOutputPort* myCurrentStateOutputPort;

   DtBooleanInputPort* myRequestedStateInputPort;

   DtArticulatedPartStateRepository *myArtPartStateRep;

   const DtSwingingPartActuatorDescriptor* myDescriptor;

   enum SwingAxis
   {
      XAxis,
      YAxis,
      ZAxis
   };

   SwingAxis mySwingAxis;

   DtSwingingPartActuatorPSR* myProcessState;
};