groundInteractionPt.h

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



#include <matrix/LibMatrix.h>
#include "geometry/surface.h"
#include <readerWriter/readerWriter.h>
#include "readerWriter/rwVector.h"

class DtAttachedTerrain;
class DtVrfChordIntersectionRecord;
class DtSimManager;

#include "vrfobjcore/vrfobjcoreDefines.h"
class DT_DLL_vrfobjcore DtGroundInteractionPt : public DtReaderWriter
{
public:
   DtGroundInteractionPt();

   DtGroundInteractionPt(const DtVector& localPosition, DtAttachedTerrain& refFrame);
   DtGroundInteractionPt(const DtString& name, DtReaderWriterRegistry* const
      parentRegistry = 0);

   DtGroundInteractionPt(const DtString& name,
      const DtVector& localPosition = DtVector::zero(),
      DtAttachedTerrain* terrainAttachedTo = 0,
      DtReaderWriterRegistry* const parentRegistry = 0);

   virtual ~DtGroundInteractionPt();

   DtGroundInteractionPt(const DtGroundInteractionPt& original);

   DtGroundInteractionPt& operator=(const DtGroundInteractionPt& original);

   DtGroundInteractionPt& operator=(const DtVrfChordIntersectionRecord& intersectionRecord);
  
   void init(const DtVector& localPosition, DtAttachedTerrain& terrainAttachedTo);

   virtual bool isOnGround();

   virtual DtFloat64 calculatePosition();

   virtual void calculatePositionWithoutGround();
   
   virtual const DtVector& localPosition() const;
   virtual void setLocalPosition(const DtVector& position);

   virtual DtAttachedTerrain* terrainAttachedTo();
   virtual const DtAttachedTerrain* terrainAttachedTo() const;
   virtual void setTerrainAttachedTo(DtAttachedTerrain* newTerrainAttachedTo);

   virtual DtVector calculateOnGroundPlanePosition() const;

   virtual const DtVector& position() const;
   virtual void setPosition(const DtVector& position);

   virtual DtFloat64 altitude() const;
   virtual void setAltitude(DtFloat64 alt);

   virtual const DtVector& groundPosition() const;
   virtual void setGroundPosition(const DtVector& pos);

   virtual DtRoughnessSoilType soilType() const;
   virtual void setSoilType(DtRoughnessSoilType type);

   virtual const DtSurface& surface() const;
   virtual void setSurface(const DtSurface& surface);

   virtual void setParentPosition(const DtVector& pos);
   virtual void setParentOrientation(const DtDcm& orient);
   
protected:

   bool testInvariant() const;


protected:

   DtVector            myParentPosition;
   DtDcm               myParentOrientation;
   DtRwVector          myLocalPosition;
   DtVector            myPosition;
   DtVector            myGroundPosition;
   DtFloat64           myAltitude;
   DtRoughnessSoilType mySoilType;
   DtSurface           mySurface;
   DtAttachedTerrain*   myTerrainAttachedTo;
};