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rotaryWingActuatorComponent.h
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1 /*******************************************************************************
2 ** Copyright (c) 2013 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
11 #pragma once
12 
13 #include "vrfobjcore/actuatorComponent.h"
14 #include <vlpi/disEnums.h>
15 #include <matrix/LibMatrix.h>
16 
17 class DtString;
18 class DtSimManager;
19 class DtRotaryWingEntityStateRepository;
20 class DtConstrainedAnalogInputPort;
21 class DtConstrainedDualAxisAnalogInputPort;
22 class DtRotaryWingActuatorDescriptor;
23 class DtRotaryWingFlightPSR;
24 class DtPhysicalWorld;
25 class DtTerrainDatabase;
26 class DtUpdateRepositoryOutputPortGroup;
27 
36 #include "vrfmodel/vrfmodelDefines.h"
37 class DT_DLL_vrfmodel DtRotaryWingActuatorComponent : public DtActuatorComponent
38 {
39 
40 public:
41 
44  DtRotaryWingActuatorComponent(const DtString& name,
45  DtVrfObject* owner,
46  DtSimManager* simManager,
47  DtComponentDescriptor* desc = 0,
48  DtReaderWriterRegistry* parentRegistry = 0);
49 
53  virtual ~DtRotaryWingActuatorComponent();
54 
57  virtual bool init();
58 
61  virtual const char* type() const;
62 
64  virtual void tick();
65 
69  virtual void useFuel(double fuelUsed);
70  virtual double fuelLeft() const;
71 
73  virtual double calculateFuel() const;
74 
80  virtual void fallFromSky();
81 
85  static DtSimComponent * creator(const DtString& name,
86  DtVrfObject* owner,
87  DtSimManager* simManager,
88  DtComponentDescriptor* desc = 0,
89  DtReaderWriterRegistry* parentRegistry = 0);
90 
91 protected:
92 
94  virtual bool createPortGroups();
95 
97  virtual bool createPorts();
98 
104  virtual bool createPSR();
105 
107  virtual void clampFrameRate();
108 
110  virtual void setLanded(const DtVector& localIntersectionPoint);
111 
113  virtual bool checkFlyingWithoutFuel();
114 
116  virtual void setYawAcceleration();
117  virtual void calculateYawRate();
118 
120  virtual double calculateOneAxisOfOrientation(const int axis, const double angleInit, const double period, const double portValue, const double maxAccel, const double maxRate);
121 #if 0
122 
123  virtual void calculatePitchAcceleration();
124  virtual void calculatePitchRate();
125 
127  virtual void calculateRollAcceleration();
128  virtual void calculateRollRate();
129 #endif
130 
131 
132  virtual void checkAndDetachIfNecessary();
133 
136  virtual void calculateOrientation();
137 
139  virtual void calculateNormalizedBodyVelocity();
140 
142  virtual void calculateLiftAcceleration();
143 
152  virtual double altitudePowerFactor(const double altitude);
153 
156  virtual void calculateResultantAcceleration();
157 
159  virtual void integrate();
160 
162  virtual void updateRepository();
163 
165  virtual void updateDisplay();
166 
186  virtual void checkLandedOrCrashed();
187 
191 
199  virtual bool isCrashedIntoGround(const DtVector& localPosition,
200  DtVector& localIntersectionPoint) const;
201 
204  virtual void sendDetonation(const DtVector& geocentricLocation) const;
205 
211  virtual bool isSubsurface() const;
212 
221  virtual bool componentInitialized() const;
222 
225  virtual bool engineOperational() const;
226 
229  virtual void updateAppearance();
230 
231 private:
232 
234  DtRotaryWingActuatorComponent();
235 
237  DtRotaryWingActuatorComponent(const DtRotaryWingActuatorComponent & orig);
238 
240  DtRotaryWingActuatorComponent& operator=(const DtRotaryWingActuatorComponent& orig);
241 
242 
243 protected:
244 
245  DtRotaryWingEntityStateRepository* myRotaryWingEntityState;
246  DtRotaryWingActuatorDescriptor* myRotaryWingActuatorDescriptor;
247 
250 
253  DtInputPortGroup* myRotaryWingControlPortGroup;
254 
260  DtConstrainedAnalogInputPort* myThrottlePort;
261 
267  DtConstrainedDualAxisAnalogInputPort* myCyclicPort;
268 
274  DtConstrainedAnalogInputPort* myPedalPort;
275 
281  DtConstrainedAnalogInputPort* myCollectivePort;
282 
284 
285  DtReal myMaxDragAcceleration;
286  DtVector myBodyRotationalAcceleration;
287  DtVector myBodyRotationRates;
288  DtTaitBryan myOrientation;
289  DtDcm myBodyToLocalMatrix;
290  DtDcm myLocalToBodyMatrix;
291  DtReal mySpeedRatioSquared;
292  DtVector myBodyVelocity;
293  DtVector myNormalizedBodyVelocity;
294  DtVector myBodyLift;
295  DtVector myBodyAcceleration;
296  DtVector myRelativeAcceleration;
297  DtVector myRelativeVelocity;
298  DtReal mySpeed;
299  DtVector myLocalPosition;
300  DtVector myLocalOrientation;
301  DtReal myAltitudeAGL;
302  DtVector myPreviousGroundClampedPosition;
303  bool myPrintedOutOfFuelMessage;
304 
307  DtRotaryWingFlightPSR* myProcessState;
308 
311  DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;
312 };
313 
Document ID: Generated on Fri Apr 26 21:53:14 EDT 2019 from SVN revision 197883
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