rotaryWingMoveToControllerComponent.h

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/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once


#include "vrfmodel/rotaryWingTaskController.h"

class DtString;
class DtSimManager;
class DtSimMessage;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtRotaryWingMoveToControllerComponent : public DtRotaryWingTaskController
{
public:

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

   virtual ~DtRotaryWingMoveToControllerComponent();

   virtual void tick();

   virtual const char* type() const;


   static void moveToCallback(DtSimMessage * msg, void * usr);
   static void moveToAltitudeCallback(DtSimMessage * msg, void * usr);

   virtual void processMoveToTask(DtSimMessage * msg);

   virtual void processMoveToAltitudeTask(DtSimMessage * msg);

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

protected:
   virtual void registerTaskMsgCallbacks();

   DtRotaryWingMoveToControllerComponent();

   DtRotaryWingMoveToControllerComponent(
      const DtRotaryWingMoveToControllerComponent & orig);

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

   virtual bool setupControlPoint();

   virtual bool createWorkingControlPoint(const DtVector location);

   virtual void stop();

   virtual double atDistance();


   virtual void pilotProperties();

   virtual void getDesiredPosition(DtVector& desiredPosition);

   virtual DtVector computeVelocityControl(DtVector& desiredPosition);

   virtual bool controlPointIsNearGround()const;
   virtual void setControlPointIsNearGround(const bool isNear);

protected:

   DtVrfObject * myControlPoint;

   DtVector myLastControlPosition;

   DtVrfObject* myWorkingControlPoint;

   bool myControlPointIsNearGround;
};