frictionlessGravityActuator.h

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/*******************************************************************************
** Copyright (c) 2011 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include <vlpi/disEnums.h>
#include "vrfobjcore/actuatorComponent.h"
#include <matrix/LibMatrix.h>
#include <vrfmodel/fallingFromSkyActuatorComponent.h>

class DtString;
class DtSimulationServices;
class DtVrfMovingObjectStateRepository;
class DtFallingFromSkyActuatorDescriptor;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtFrictionlessGravityActuator : 
   public DtFallingFromSkyActuatorComponent
{

public:

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


   virtual ~DtFrictionlessGravityActuator();
   
   virtual const char* type() const;

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

   virtual void preFirstTickInit();


protected:

   virtual void fallFromSky();

   virtual void integrate(const DtVector& oldLocalPosition, 
      const DtVector& oldRelativeVelocity, 
      const DtVector& newRelativeAcceleration, DtVector& newLocalPosition, 
      DtVector& newRelativeVelocity);

   virtual DtVector initialRotationRate();

protected:
   
   DtFrictionlessGravityActuator();

   DtFrictionlessGravityActuator(const DtFrictionlessGravityActuator & orig);

   const DtFrictionlessGravityActuator & operator=(const 
      DtFrictionlessGravityActuator & orig);
};