rotaryWingMoveAlongControllerComponent.h

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/*******************************************************************************
** Copyright (c) 2000 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/rotaryWingTaskController.h"
#include "vrfutil/localVectorIterator.h"

class DtString;
class DtSimulationServices;
class DtRouteState;
class DtSimMessage;

class DtBooleanInputPort;
class DtInputPortGroup;
class DtVectorOutputPort;

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

public:

   DtRotaryWingMoveAlongControllerComponent(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtRotaryWingMoveAlongControllerComponent();


   virtual bool init();

   virtual void tick();

   virtual const char* type() const;

   static void moveAlongCallback(DtSimMessage* msg, void* usr, DtSimTaskStatePtr taskStatePtr);

   virtual DtSimTaskStatePtr currentTaskState() const;

   virtual void registerTaskMsgCallbacks();

   static void routeChangedCallback(const DtSimObject* obj, void * usr);
   virtual void processRouteChanged(const DtSimObject* obj);

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

   virtual bool setupRoute();

   virtual bool isMovingToward(const DtVector& ENUpoint);

   virtual void routeLogic();

   virtual void desiredVelocityAndPosition();


protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void processMoveAlong(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);

   DtRotaryWingMoveAlongControllerComponent();
   DtRotaryWingMoveAlongControllerComponent(
      const DtRotaryWingMoveAlongControllerComponent& orig);

   DtRotaryWingMoveAlongControllerComponent& operator=(
      const DtRotaryWingMoveAlongControllerComponent& orig);

   virtual void pilotProperties();

   virtual void buildLocalRoute();

   virtual void emptyVertexList();

   static DtReaderWriter* provideNextRoutePointIndex(void* c);

   virtual void processEstimatedTotCalculation();

   virtual void clearTask();

protected:


   DtBooleanInputPort* myTerrainProximityInputPort;

   DtInputPortGroup* myTerrainProximityPortGroup;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;

   double           myDistanceSquared;

   DtSimObjectReference         myRoute;
   
   bool        myRouteHasChanged;

   bool myFinalPointIsCloseToGround;
};