rotaryWingFlightPSR.h

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/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/vrfProcessStateRepository.h"
#include "vrfobjcore/simObject.h"
#include <readerWriter/rwString.h>
#include <readerWriter/rwBoolean.h>
#include "readerWriter/rwVector.h"
#include "vrfutil/localVertexList.h"
#include <readerWriter/rwInt.h>
#include <readerWriter/rwReal.h>
#include <vrfutil/rwUUID.h>
#include <vrfobjcore/rwSimObjectReference.h>


class DtLocalVectorIterator;

#include "vrfobjcore/vrfobjcoreDefines.h"
class DT_DLL_vrfobjcore DtRotaryWingFlightPSR : public DtVrfProcessStateRepository
{
public:
   enum DtRotaryWingLandingControllerState 
   {
      StateStartingLandingTask,
      StateMovingToLandingLocation, 
      StateSettling,
      StateLanding
   };

   DtRotaryWingFlightPSR(DtLocalObject* vrfObject, 
      const DtString& rwName = DtString::nullString(), 
      DtReaderWriterRegistry*  parentRegistry = 0);

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

   virtual ~DtRotaryWingFlightPSR();

   DtRotaryWingFlightPSR& operator=(const DtRotaryWingFlightPSR& orig);

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

   virtual DtString type() const;

   virtual void setControlObject(const DtUUID&);

   virtual DtSimObjectReference controlObject() const;

   virtual void setRoute(const DtUUID&);

   virtual DtSimObjectReference route() const;

   virtual void setRouteVertices(const DtLocalVectorIterator& routeIterator,
      bool useCurrentVertex = false);
   virtual const DtLocalVertexList& routeVertices() const;

   virtual void emptyRouteVertices();

   virtual DtLocalVectorIterator* routeState() const;

   virtual void setWasMovingToward(bool flag);
   virtual bool wasMovingToward() const;

   virtual void setStartingPoint(const DtVector& startingPoint);
   virtual const DtVector& startingPoint() const;

   virtual void setDoContinueMoving(const bool go);
   virtual bool doContinueMoving() const;

   virtual void setReverseFlag(bool flag);
   virtual bool reverseFlag() const;

   virtual void setHeadingToTurnTo(double);
   virtual double headingToTurnTo() const;

   virtual void setWorldAimingPoint(const DtVector& pnt);
   virtual const DtVector& worldAimingPoint() const;

   virtual void setFirstWaypoint(const DtUUID&);
   virtual DtSimObjectReference firstWaypoint() const;

   virtual void setSecondWaypoint(const DtUUID&);
   virtual DtSimObjectReference secondWaypoint() const;

   virtual void setEntityToFollow(const DtUUID&);
   virtual DtSimObjectReference entityToFollow() const;

   virtual void setFollowOffset(const DtVector& offset);
   virtual const DtVector& followOffset() const;

   virtual void setMovingToAltitude(bool movingToAlt);
   virtual bool movingToAltitude() const;
   
   virtual void setMoveToAltitudeValue(double altitude);
   virtual double moveToAltitudeValue() const;

   virtual void setOrbitRadius(const double r);
   virtual double orbitRadius() const;

   virtual void setLandingState(DtRotaryWingLandingControllerState state);
   virtual DtRotaryWingLandingControllerState landingState() const;


   virtual bool isSpinningUp() const;
   virtual void setIsSpinningUp(bool b);


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

public:

   static DtVrfProcessStateRepository* creator (const DtString& rwName,
      DtLocalObject* vrfObject, DtReaderWriterRegistry* parentRegistry);

protected:

   DtRwSimObjectReference myControlObject;

   DtRwSimObjectReference myRoute;
   DtLocalVectorIterator* myRouteState;   
   DtLocalVertexList myVertices;
   DtRwInt myCurrentVertex;

   DtRwBoolean myWasMovingToward;
   
   DtRwVector myStartingPoint;

   DtRwBoolean myDoContinueMoving;

   DtRwBoolean myReverseFlag;

   DtRwSimObjectReference  myFirstWaypoint;
   DtRwSimObjectReference  mySecondWaypoint;

   DtRwSimObjectReference myEntityToFollow;
   DtRwVector myFollowOffsetVector;

   DtRwVector  myWorldAimingPoint;
   
   DtRwBoolean myMovingToAltitude;
   DtRwReal myMoveToAltitudeValue;

   DtRwReal myOrbitRadius;

   DtRwInt  myLandingState;

   DtRwReal myHeadingToTurnTo;
   DtRwBoolean myIsSpinningUp;
   DtRwReal mySpinupCompleteTime;
};