rwSimKinematicState.h

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/*******************************************************************************
** Copyright (c) 2001 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
#pragma once


#include "vrfStateData/vrfStateDataDefines.h"
#include "vrfStateData/kinematicStateCS.h"
#include <readerWriter/readerWriter.h>
#include <vlpi/disEnums.h>
#include "vrfStateData/coordSysValidationVector.h"
#include "readerWriter/rwVector.h"
#include "readerWriter/rwInt.h"
#include "vrfutil/vertexList.h"
#include "vrfutil/rwUUID.h"

#include <matrix/vlTaitBryan.h> 
#include <boost/signals2.hpp>

namespace makVrf
{
   class DtStateData;
   class DtLocationStateComponent;
   class DtEntityLocationStateComponent;

   class DT_DLL_vrfStateData DtRwSimKinematicState : public DtReaderWriter
   {
   public:

      DtRwSimKinematicState();
      DtRwSimKinematicState(const DtRwSimKinematicState& orig);

      DtRwSimKinematicState(const DtString& name, 
         DtReaderWriterRegistry * parentRegistry = NULL);

      DtRwSimKinematicState(const DtSymbolString& name, 
         DtReaderWriterRegistry * parentRegistry = NULL);

      DtRwSimKinematicState(const DtRwSimKinematicState& orig, const DtString& name,
         DtReaderWriterRegistry * parentRegistry = 0);

      DtRwSimKinematicState(const DtRwSimKinematicState& orig,
         const DtSymbolString& name, 
         DtReaderWriterRegistry * parentRegistry = 0);

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

      virtual ~DtRwSimKinematicState();

      virtual DtRwSimKinematicState* clone(const DtString& name = DtString::nullString(), 
         DtReaderWriterRegistry* parentRegistry = NULL) const;

      virtual DtRwSimKinematicState* clone(const DtSymbolString& name,
         DtReaderWriterRegistry* parentRegistry = NULL) const;

      virtual const DtVector& parentPosition() const;
      virtual void setParentPosition(const DtVector& position);

      virtual const DtVector& parentVelocity() const;
      virtual void setParentVelocity(const DtVector& velocity, 
         bool recomputeSpeed = true);
      virtual DtReal parentSpeed() const;

      virtual const DtVector& parentAcceleration() const;
      virtual void setParentAcceleration(const DtVector& acceleration);

      virtual const DtTaitBryan& parentOrientation() const;
      virtual void setParentOrientation(const DtTaitBryan& orientation, 
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

      virtual const DtDcm& parentOrientationMatrix() const;
      virtual void setParentOrientationMatrix(const DtDcm& orientationMatrix, 
         bool recomputeEulers = true);

      virtual const DtVector& worldPosition() const;
      virtual void setWorldPosition(const DtVector& position);

      virtual const DtVector& worldVelocity() const;
      virtual void setWorldVelocity(const DtVector& velocity, 
         bool recomputeSpeed = true);

      virtual DtReal worldSpeed() const;

      virtual const DtVector& worldAcceleration() const;
      virtual void setWorldAcceleration(const DtVector& acceleration);

      virtual const DtTaitBryan& worldOrientation() const;
      virtual void setWorldOrientation(const DtTaitBryan& orientation, 
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

      virtual const DtDcm& worldOrientationMatrix() const;
      virtual void setWorldOrientationMatrix(const DtDcm& orientationMatrix, 
         bool recomputeEulers = true);

      virtual DtVector bodyVelocity() const;
      virtual const DtTaitBryan& topoEuler() const;
      virtual double heading() const;
      virtual double pitch() const;
      virtual double roll() const;

      virtual const DtVector& rotationalVelocity() const;
      virtual void setRotationalVelocity(const DtVector& rotationalVelocity);

      virtual DtKinematicStateCS::DtRotationConstraint rotationConstraint()
         const;

      virtual void setRotationConstraint(
         DtKinematicStateCS::DtRotationConstraint constraint);

      virtual DtKinematicStateCS::DtSimOrientationType orientationType() const;
      virtual void setOrientationType(
         DtKinematicStateCS::DtSimOrientationType orientationType);

      virtual void setObjectAttachMode(int m);
      int objectAttachMode() const
      {
         return myObjectAttachMode;
      }

      virtual void setAttachedTo(const DtStateData* stateData, const DtUUID& uuid);
      const DtStateData* attachedTo() const
      {
         return myAttachedTo;
      }

      const DtUUID& attachedToUUID() const
      {
         return myAttachedToUUID;
      }

      bool isAttachedTo() const;

      virtual void detach();
      virtual void attach();

      DtCoordSysValidationVector& parentVV();
      DtCoordSysValidationVector& worldVV();

      const DtCoordSysValidationVector& parentVV() const;
      const DtCoordSysValidationVector& worldVV() const;

      virtual void putSelf(std::string& fp, int indentLevel = 0, bool writeUnspecified = false,
         const DtFilename& path = DtReaderWriter::appPath());

      virtual void validateParentState();
      virtual void validateWorldState();
      virtual void invalidateState();
      virtual void validateState();

      bool operator==(const DtRwSimKinematicState& orig) const;
      bool operator!=(const DtRwSimKinematicState& orig) const
      {
         return !(*this == orig);
      }

      void setFrozen(bool b) { myFrozen = b; };
      bool frozen() const { return myFrozen; };

   public:

      virtual const DtKinematicStateCS& parentKinematicState() const;
      virtual DtKinematicStateCS& parentKinematicState();

      virtual void setParentKinematicState(
         const DtKinematicStateCS& parentKinematicState);

      virtual const DtKinematicStateCS& worldKinematicState() const;
      virtual DtKinematicStateCS& worldKinematicState();

      virtual void setWorldKinematicState(
         const DtKinematicStateCS& worldKinematicState);

      virtual const DtVector& setWorldPositionFromParent();

      virtual void setWorldOrientationFromParent();

   protected:
      virtual void postGetSelf();
      virtual const DtLocationStateComponent* attachedLocationStateComponent() const;
      virtual const DtEntityLocationStateComponent* attachedEntityLocationStateComponent() const;

   protected:
      DtKinematicStateCS myParentKinematicState;


      DtKinematicStateCS myWorldKinematicState;


      DtCoordSysValidationVector myParentVV;
      DtCoordSysValidationVector myWorldVV;

      DtRwVector             myRotationalVelocity;

      DtRwInt myObjectAttachMode;

      const DtStateData* myAttachedTo;
      DtUUID myAttachedToUUID;
      mutable const DtLocationStateComponent* myAttachedLocationComponent;
      mutable const DtEntityLocationStateComponent* myAttachedEntityLocationComponent;
      mutable bool myCheckedEntityLocationComponent;

      DtTaitBryan            myTopoEuler;
      bool                   myTopoInvalid;

      boost::signals2::connection myRemovalConnection;
      bool myFrozen;
   };
}