surfaceEntitySimpleActuator.h

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/*******************************************************************************
** Copyright (c) 2013 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfobjcore/vrfKinematicState.h"

class DtString;
class DtSimManager;
class DtSurfaceEntityStateRepository;
class DtSurfaceEntityParameters;
class DtSurfaceEntityActuatorDescriptor;
class DtAnalogInputPort;
class DtBooleanInputPort;
class DtSurfaceMovementPSR;
class DtUpdateRepositoryOutputPortGroup;


#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtSurfaceEntitySimpleActuator : public DtActuatorComponent
{

public:

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

   virtual ~DtSurfaceEntitySimpleActuator();

   virtual bool init();

   virtual const char* type() const;

   virtual bool postAddComponentsInit();

   virtual void initProcessSR();

   virtual void tick();
 
   virtual void decrementFuelResource(double fuelUsed);
#if 0

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

protected:
   
   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void updateHeading(const double dT, double& newHeading);

   virtual void updateVelocity(const double dT, const double newHeading,
      const double newVerticalSpeed,
      double& acceleratingDT, double& newSpeed,
      DtVector& newVelocity, bool& maxSpeedAchieved);

   virtual double updateVerticalSpeed(const double dT);

   virtual void updateOrientationAndPosition(const double dT,
      const double acceleratingDT, const double newHeading,
      DtVector& newVelocity, const double newSpeed, 
      DtDcm& newBodyToLocalMatrix, DtVector& newPosition);

   virtual void adjustAttitude(const double newSpeed, const DtVector& position,
      const double yawRate,
      double &roll, double &pitch, double &altitudeAdj);

   virtual void setAltitude(DtVector& localPosition, const Coordinate_System* cs, 
      const double altitudeAdjustment);

   virtual bool getTerrainSurfaces(const DtVector& databaseLocation, 
      double& groundHeight, DtSurface& groundSurface, DtVector& groundNormal,
      double& waterHeight, DtSurface::DtMedium & topSurfaceMedium, 
      bool* dataAvailable = 0, bool overrideBlockingAssert = false);

   virtual bool isShipAground(const DtVector& localPosition,
      const DtDcm& bodyToLocalMatrix,
      DtSurface::DtMedium topMedium = DtSurface::WaterSurface);

   virtual void sinkingAttitude(const DtVector& newPosition, 
      DtDcm& newBodyToLocalMatrix);

   virtual void setOrientationToBottom(const DtVector& newPosition,
      const double newHeading, const DtVector& groundNormal,
      DtDcm& newBodyToLocalMatrix);

   virtual void computeNewRates(
      const double turnRate, const double newSpeed, const double newHeading,
      const double acceleration,  const DtDcm& bodyToLocalMatrix,
      DtVector& bodyRotationRates, DtVector& relativeAcceleration,
      double & limitedAcceleration);

   virtual void sinkingRates(DtVector& newPosition,
      DtVector& newVelocity, DtVector& newRelativeAcceleration,
      DtVector& newBodyRotationRates);

   virtual void unpoweredDriftRates(const double newSpeed, 
      const double newHeading,
      DtVector& newBodyRotationRates, DtVector& newRelativeAcceleration);
   double driftDecelerationMagnitude() const;

   virtual void updateRepository(
      const DtVector& newPosition,
      const DtVector& newVelocity,
      const DtVector& newAcceleration,
      const DtTaitBryan& newOrientation,
      const DtVector& newBodyRotationRates);

   virtual double computeFuelUsed(const double dT);

   DtSurfaceEntityStateRepository * surfaceEntityState (void) const;

   virtual bool createPSR();

protected:
   
   DtSurfaceEntitySimpleActuator();

   DtSurfaceEntitySimpleActuator
      (const DtSurfaceEntitySimpleActuator & orig);

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


protected:
   DtSurfaceEntityStateRepository * mySurfaceEntityState;
   const DtSurfaceEntityParameters* myParameters;
   DtSurfaceEntityActuatorDescriptor * myDescriptor;


   DtInputPortGroup* mySurfaceControlPortGroup;

   DtAnalogInputPort* myAccelerationPort;
   DtAnalogInputPort* myClampSpeedPort;
   DtAnalogInputPort* myTurnRatePort;
   DtAnalogInputPort* myFinalHeadingPort;


   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

   DtSurfaceMovementPSR* myProcessState;

   bool myOutOfFuelWarningPrinted;

   double myMaxRollRate;

   double mySeaFloorHeight;
   double myWaterHeight;
   bool   myIsAground;

   bool myAgroundAndDestroyed;

   double mySinkingPitchRate;
   double mySinkingRollRate;
   double mySinkingStartRate; 
};