articulatedPartStateRepository.h

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



#include "vrfobjcore/vrfobjcoreDefines.h"
#include "vrfobjcore/simObjectStateRepository.h"

class DT_DLL_vrfobjcore DtArticulatedPartStateRepository : 
   public DtSimObjectStateRepository
{
public:
   DtArticulatedPartStateRepository(DtVrfObject* simObject, 
      const DtObjectType& objectType, 
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0);

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

public:

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

   virtual ~DtArticulatedPartStateRepository();

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

   virtual DtString type() const;

   enum DtJointAxis {DtYAW, DtPITCH, DtROLL};
   DtJointAxis myJointAxis;

   DtReal angle() const;
   DtReal angle(DtKinematicStateCS::DtRotationConstraint constraint) const;

   DtReal turnRate() const;
   DtReal turnRate(DtKinematicStateCS::DtRotationConstraint constraint) const;
   void setTurnRate(DtReal turnRate);
   
   void setAngle(DtReal angle);
   void setAngle(DtReal angle, DtKinematicStateCS::DtRotationConstraint constraint);

   void setBodyPartType(const DtArtPartType & type);
   DtArtPartType bodyPartType();

   virtual DtReal artPartPosition() const;
   virtual void setArtPartPosition(DtReal position);

   virtual DtReal artPartPositionRate() const;
   virtual void setArtPartPositionRate(DtReal rate);

   virtual DtReal extension() const;
   virtual void setExtension(DtReal extension);

   virtual DtReal extensionRate() const;
   virtual void setExtensionRate(DtReal rate);

   virtual DtReal azimuthNeutralOffset() const;
   virtual void setAzimuthNeutralOffset(DtReal offset);

protected:

   DtReal myArtPartPosition;
   DtReal myArtPartPositionRate;

   DtReal myExtension;
   DtReal myExtensionRate;

   DtReal myAzimuthNeutralOffset;
};