rotaryWingEntityStateRepository.h

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/*******************************************************************************
** Copyright (c) 1999 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include <vlutil/vlMachineTypes.h>
#include <matrix/vlVector.h>
#include "vrfobjcore/groundInteractionPt.h"
#include "vrfobjcore/vrfMovingObjectStateRepository.h"

class DtRotaryWingEntityParameters;

#include "vrfobjcore/vrfobjcoreDefines.h"
class DT_DLL_vrfobjcore DtRotaryWingEntityStateRepository : public DtVrfMovingObjectStateRepository
{
public:

   DtRotaryWingEntityStateRepository (DtVrfObject* vrfObject,
                                      const DtObjectType& objectType, 
                                      DtVrfObjectParameters* parameters,
                                      const DtString& rwName = DtString::nullString(),
                                      DtReaderWriterRegistry* parentRegistry = 0);

   DtRotaryWingEntityStateRepository (const DtRotaryWingEntityStateRepository & orig,
                                      const DtString& rwName = DtString::nullString(),
                                      DtReaderWriterRegistry* parentRegistry = 0);

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

   virtual ~DtRotaryWingEntityStateRepository();

   virtual DtSimObjectStateRepository* clone
      (const DtString& rwName = DtString::nullString(),
      DtReaderWriterRegistry*  parentRegistry = 0) const;

   virtual bool init();

   virtual DtString type() const;

   virtual const int vrfMovingObjectStateRepositorySubType() const;

   virtual const int rotaryWingEntityStateRepositorySubType() const;

   static DtVrfObjectStateRepository* creator (const DtString& name,
                                                DtVrfObject* vrfObject,
                                                const DtObjectType& objectType,
                                                DtVrfObjectParameters* parameters,
                                                DtReaderWriterRegistry* parentRegistry);

   static DtRotaryWingEntityStateRepository* isRotaryWingEntityStateRepository(
      DtSimObjectStateRepository* repository);

   static const DtRotaryWingEntityStateRepository* isRotaryWingEntityStateRepository
      (const DtSimObjectStateRepository* repository);

   virtual bool createParameters();

   virtual void initializeFromParameters();

   virtual const DtRotaryWingEntityParameters* rotaryWingEntityParameters() const;

   virtual DtReal altitude() const;
   virtual void setAltitude (const DtReal val);

   virtual bool isCheckingTerrainDistance() const;
   virtual void setIsCheckingTerrainDistance (const bool val);
   virtual DtReal maxAltitude() const;
   virtual void setMaxAltitude (const DtReal val);

   virtual const DtVector & desiredInertialPos() const;
   virtual void setDesiredInertialPos(const DtVector & pos);
   
   virtual const DtVector & desiredInertialVel() const;
   virtual void setDesiredInertialVel(const DtVector & vel);
   
   virtual const DtVector & desiredInertialAcc() const;
   virtual void setDesiredInertialAcc(const DtVector & acc);
   
   virtual DtReal desiredInertialHead() const;
   virtual void setDesiredInertialHead(DtReal head);
   
   virtual DtReal positionSelector() const;
   virtual void setPositionSelector(DtReal val);
   
   virtual DtReal velocitySelector() const;
   virtual void setVelocitySelector(DtReal val);
   
   virtual DtReal accelerationSelector() const;
   virtual void setAccelerationSelector(DtReal val);
   
   virtual DtReal headingSelector() const;
   virtual void setHeadingSelector(DtReal val);
   
   virtual DtReal aggressiveness() const;
   virtual void setAggressiveness(DtReal val);

   virtual bool landed() const;
   virtual void setLanded(bool value);

   virtual boost::tribool onTerrainSurface() const;

   virtual void getSelf(DtlObjPtr args, const DtReaderWriter::SearchPaths& searchPaths,
      const DtVariableBindingsList& variableBindings);  

   virtual void setJoystickControl (const bool val);
   virtual bool joystickControl() const;

   virtual void land(const DtVector& location, const DtReal heading);


   virtual void place(const DtVector& location, const DtReal heading, 
      bool clampToGroundFlag = true, bool* dataAvailable = 0,
      bool requireAllData = false);

   virtual void placeAtAltitude(const DtVector& desiredLocalPosition, 
      const DtReal newHeading, bool* dataAvailable = 0);

   virtual const DtGroundInteractionPt* noseSupport() const;
   virtual DtGroundInteractionPt* noseSupport();
   virtual void setNoseSupport(const DtVector& noseSupport);

   virtual void clampToGround (const DtVector& location, const DtReal heading,
      bool* dataAvailable = 0, bool requireAllData = false);

   virtual void restoreEntity();


   virtual double maxClimbRate() const;
   virtual void setMaxClimbRate(double value);

   virtual double maxYawRate() const;
   virtual void setMaxYawRate(double value);

   virtual double maxPitchRate() const;
   virtual void setMaxPitchRate(double value);

   virtual double maxRollRate() const;
   virtual void setMaxRollRate(double value);

   virtual double maxYawAcceleration() const;
   virtual void setMaxYawAcceleration(double value);

   virtual double maxPitchAcceleration() const;
   virtual void setMaxPitchAcceleration(double value);

   virtual double maxRollAcceleration() const;
   virtual void setMaxRollAcceleration(double value);

   virtual double zeroCollectiveLiftAcceleration() const;
   virtual void setZeroCollectiveLiftAcceleration(double value);

   virtual double fullCollectiveLiftAcceleration() const;
   virtual void setFullCollectiveLiftAcceleration(double value);

private:

    DtRotaryWingEntityStateRepository();

protected:

   DtVector myDesiredInertialPos;
   DtVector myDesiredInertialVel;
   DtVector myDesiredInertialAcc;
   DtReal   myDesiredInertialHead;
   DtReal   myPositionSelector;
   DtReal   myVelocitySelector;
   DtReal   myAccelerationSelector;
   DtReal   myHeadingSelector;
   DtReal   myAggressiveness;



   DtRwReal myMaxClimbRate;
   DtRwReal myMaxYawRate;
   DtRwReal myMaxPitchRate;
   DtRwReal myMaxRollRate;
   DtRwReal myMaxYawAcceleration;
   DtRwReal myMaxPitchAcceleration;
   DtRwReal myMaxRollAcceleration;
   DtRwReal myZeroCollectiveLiftAcceleration;
   DtRwReal myFullCollectiveLiftAcceleration;

   bool             myJoystickControl;

   DtReal         myAltitude;
   bool myIsCheckingTerrainDistance;

   DtReal    myMaxAltitude;

   DtRwBoolean     myLanded;
};