parachuteActuator.h

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/*******************************************************************************
** Copyright (c) 2014 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include <vrfmodel/fallingFromSkyActuatorComponent.h>

#include <matrix/LibMatrix.h>
#include <vlpi/disEnums.h>

class DtString;
class DtSimManager;
class DtVrfMovingObjectStateRepository;
class DtConstrainedAnalogInputPort;
class DtAnalogInputPort;
class DtBooleanInputPort;
class DtInputPortGroup;
class DtVectorInputPort;
class DtParachuteActuatorDescriptor;
class DtAnalogOutputPort;
class DtParachuteActuatorPSR;
class DtBooleanOutputPort;

class DT_DLL_vrfmodel DtParachuteActuator : public DtFallingFromSkyActuatorComponent
{

public:

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

   virtual ~DtParachuteActuator();

   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);


protected:
   virtual bool createPortGroups();
   virtual bool createPorts();

   virtual bool isFallingApplicable();

   virtual bool checkFallingApplicable(bool& dataAvailable);


   virtual double horizontalDragCoefficient() const;
   virtual double verticalDragCoefficient() const;  
   virtual double windDragCoefficient() const;
   virtual double turningRate() const;

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

   virtual DtVector calculateDragForces(const DtVector& oldLocalPosition, 
      const DtVector& oldLocalVelocity);

   virtual double dragAccelerationFromSpeed(double curSpeed, double coefficient) const;

private:

   DtParachuteActuator();

   DtParachuteActuator(const DtParachuteActuator& orig);

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

protected:

   virtual void fallFromSky();

   virtual void executeSetPosture(DtLifeformState lifeformState);

   virtual bool checkForLandingDamage() const;

   virtual double downwardSpeed() const;

   virtual bool createPSR();

   virtual bool isCargoDoorOpen(const DtVrfObject* entity) const;

   virtual double percentDeployed() const;

   virtual void updateHandItem();

protected:

   DtParachuteActuatorDescriptor* myParachuteActuatorDescriptor;

   DtBooleanInputPort* myDeployedPort;
   DtConstrainedAnalogInputPort* myLeftToggleInputPort;
   DtConstrainedAnalogInputPort* myRightToggleInputPort;
   DtInputPortGroup* myParachuteControlInputPortGroup;

   DtAnalogOutputPort* myMaxTurnRateOutputPort;
   DtBooleanOutputPort* myFallingOutputPort;

   DtAnalogInputPort* myAglInputPort;

   DtParachuteActuatorPSR* myProcessState;
};