fixedWingActuatorComponent.h

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



#pragma once

#include <vlpi/disEnums.h>
#include "vrfobjcore/actuatorComponent.h"
#include <matrix/LibMatrix.h>

#if DtHLA
#include <vl/rtiNamespace.h>
#endif

class DtString;
class DtSimManager;
class DtFixedWingEntityStateRepository;
class DtFixedWingActuatorDescriptor;
class DtFixedWingFlightPSR;

class DtInputPortGroup;
class DtConstrainedAnalogInputPort;
class DtConstrainedDualAxisAnalogInputPort;
class DtBooleanInputPort;
class DtUpdateRepositoryOutputPortGroup;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFixedWingActuatorComponent : public DtActuatorComponent
{

public:

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


   virtual ~DtFixedWingActuatorComponent();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

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

public:
   virtual void calculateBodyVelocity(const DtVector& oldRelativeVelocity, 
      const DtDcm& newLocalOrientation, DtVector& newBodyVelocity);

   virtual void calculateAirborneAcceleration(const DtVector oldLocalPosition, 
      double oldSpeed, const DtDcm& newLocalOrientation, 
      const DtVector& newBodyVelocity, double throttle, 
      DtVector& newRelativeAcceleration);

protected:
   
   virtual void doFlying();

   virtual void doTaxiing();
   
   virtual bool isTouchingDown(const DtVector& newLocalPosition,
      const DtVector& newRelativeVelocity);

   virtual bool isTakingOff(bool isOnGround, double speed);

   virtual bool updateGroundInteractionPoints(
      DtGroundInteractionPt *left, 
      DtGroundInteractionPt *right, 
      DtGroundInteractionPt *nose, 
      DtGroundInteractionPt *center,
      const DtDcm& localOrientation,
      const DtVector& localPosition,
      double halfHeightOfTerrainIntersectChord);

   virtual double calculateYawRate(double pedal);

   virtual double calculatePitchRate(double stickYValue);

   virtual double calculateRollRate(double stickXValue);

   virtual void calculateBodyRotationRates(double pedal, double stickXValue,
      double stickYValue, DtVector& newBodyRotationRates);

   virtual void calculateOrientation(const DtDcm&
      oldLocalOrientation, const DtVector& newBodyRotationRates,
      DtDcm& newLocalOrientation);

   virtual void calculateBodyGravity(const DtVector oldLocalPosition, 
      const DtDcm& newLocalOrientation, DtVector& newBodyGravityAcceleration);

   virtual void calculateThrustAcceleration(double throttle,
   DtVector& newBodyThrustAccleration);

   virtual void calculateDragAcceleration(double oldSpeed,
      const DtVector& newBodyVelocity, bool flapsDeployed,
      DtVector& newBodyDragAccleration);

   virtual void fallFromSky(const DtString& reason = DtString::nullString());

   virtual bool collidesWithGround(const DtVector& oldLocalPosition,
      const DtVector& newLocalPosition, DtVector& localCenterGoundPosition);

   void integrate(const DtVector& oldLocalPosition, 
      const DtVector& oldRelativeVelocity, 
      const DtVector& newRelativeAcceleration, DtVector& newLocalPosition, 
      DtVector& newRelativeVelocity,
      double maxSpeed = 0);


   virtual void useFuel(double fuelUsed);
   virtual double fuelLeft() const;


   virtual double calculateHeading(double oldHeading, 
      double steering, double dT, double speed, double turningRadius);
   virtual void  calculateScalarVelocityAndAcceleration(
      double oldPitch, double &scalarVelocity, double &scalarAcceleration);
   virtual double calculateMaxGroundSpeed();
   virtual double calculateMaxGroundAcceleration();
   virtual double calculateAcceleration(double pitch, double maxSpeed, 
      double maxAccel, double newSpeed);
   virtual double calculateAccelerationFromThrottle();

   virtual double calculateAccelerationFromSlope(double slope);
      
   virtual double calculateAccelerationFromResistance(double maxSpeed, 
      double maxAccel);
   virtual double calculateAccelerationFromBrake(double otherAccels);

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

   virtual void calculateOrientationAndPositionOnGround(
      const DtVector& newLocalProjectedLocation, double newHeading, 
      DtDcm& newLocalOrientation, DtVector& newLocalPosition);

   virtual void updateRepository(const DtVector& newLocalPosition,
      const DtVector& newRelativeVelocity, 
      const DtVector& newRelativeAcceleration, 
      const DtDcm& newLocalOrientation, const DtVector& newBodyRotationRates,
      bool isOnGround, const DtAppearance& newAppearance);

   virtual void updateDisplay() const;

   virtual double maxThrustAcceleration() const;
   virtual double maxClimbRate() const;
   virtual double maxYawVelocity() const;
   virtual double maxPitchVelocity() const;
   virtual double maxRollVelocity() const;
   virtual double maxAltitude() const;

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual bool createPSR();

   virtual void sendDetonation(const DtVector& geocentricPosition);

   virtual void forceSpatialUpdate();

#if DtHLA

   virtual void initializeSpatialAttributeList();
#endif

protected:
   
   DtFixedWingActuatorComponent();

   DtFixedWingActuatorComponent(const DtFixedWingActuatorComponent & orig);

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

protected:

   DtFixedWingEntityStateRepository * myFixedWingEntityState;
   DtFixedWingActuatorDescriptor * myFixedWingActuatorDescriptor;


   DtInputPortGroup* myFixedWingControlPortGroup;

   DtConstrainedAnalogInputPort* myThrottlePort;

   DtConstrainedDualAxisAnalogInputPort*  myStickPort;

   DtConstrainedAnalogInputPort* myPedalPort;

   DtConstrainedAnalogInputPort* myBrakePort;

   DtBooleanInputPort*           myFlapsDeployedPort;


   DtFixedWingFlightPSR* myProcessState;

   bool           mySentFallingMessage;

   bool           myPutTaxiingPlaneOnGround;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

   bool myPreviouslyHadData;
   bool myKeepParentPosition;

#if DtHLA



   RTI::AttributeHandleSet* mySpatialAttributes;
#endif
};