vtolRotorActuator.h

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/*******************************************************************************
** Copyright (c) 2006 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfobjcore/actuatorComponent.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfobjparam/swingingPartActuatorDescriptor.h"

namespace makVrf
{
   class DtArticulatedPartStateRepository;
}

class DtString;
class DtSimulationServices;
class DtSimObjectBaseObjectStateRepository;
class DtVtolRotorActuatorDescriptor;
class DtSwingingPartActuatorPSR;
class DtRotaryWingEntityStateRepository;

class DT_DLL_vrfmodel DtVtolRotorActuator : public DtActuatorComponent
{

public:

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

   virtual ~DtVtolRotorActuator();

   virtual bool init();

   virtual bool postAddComponentsInit();

   virtual const char* type() const;

   virtual void tick();

   virtual double desiredAngle(double forwardSpeed);




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

   enum DtPartState
   {
      State_Open = 0,
      State_In_Transision = 1,
      State_Closed = 2
   };

   virtual DtSwingingPartActuatorPSR* createPSR();

   virtual void setPositionAndRate(DtVector newPos, DtVector newRate);

   virtual bool angleWithinSlewArc(double angle, double desiredAngle, bool direction);

   virtual void updateAxis(int axisNum, const DtSwingingPartActuatorAxisInfo& axisInfo, bool direction, DtVector& newPos, DtVector& newRate, double desiredAngle);

   virtual const DtSwingingPartActuatorAxisInfo& yAxisInfo() const;

private:
   DtVtolRotorActuator();
   DtVtolRotorActuator(const DtVtolRotorActuator & orig);
   const DtVtolRotorActuator & operator=(const
      DtVtolRotorActuator & orig);

protected:

   //TODO: ADD PSR FOR ART PARTS
   makVrf::DtArticulatedPartStateRepository *myArtPartStateRep;

   const DtVtolRotorActuatorDescriptor* myDescriptor;

   DtReal myHoverAngle;

   DtReal myMaxSpeedAngle;

   DtReal myMaxForwardSpeed;

   DtSwingingPartActuatorPSR* myProcessState;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};