automotiveActuatorComponent.h

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/*******************************************************************************
** Copyright (c) 2025 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vlpi/disEnums.h>

#include "vrfobjcore/actuatorComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfobjcore/automotivePSR.h"
#include "terrainInterface/terrainInterface.h"

#include <matrix/vlVector.h>

class DtChord;
class DtString;
class DtSimulationServices;
class DtGroundVehicleStateRepository;
class boolPort;
class DtTaitBryan;
class DtSoilFactors;
class DtAutomotivePSR;
class DtAutomotiveActuatorDescriptor;
class DtConstrainedIntegerInputPort;
class DtConstrainedAnalogInputPort;
class DtBooleanInputPort;
class DtVrfChordIntersectionRecord;
class DtAttachedTerrain;
class DtUpdateRepositoryOutputPortGroup;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtAutomotiveActuatorComponent : public DtActuatorComponent
{

public:

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


   virtual ~DtAutomotiveActuatorComponent() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void tick() override;

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

protected:

   
   virtual void useFuel(double fuelUsed);

   virtual double fuelLeft() const;

   virtual double fuelUsed(double speed) const;


   virtual void updateRepository(const DtVector & localPosition, 
      const DtVector & localVelocity, const DtVector & localAcceleration, 
      const DtTaitBryan & localOrientation, const DtVector& rotationalVelocity,
      double newHeading);

   virtual double calculateMaxDecelerationFromBrake(double brake);

   virtual double calculateAccelerationFromEngine(double throttle, 
      double speed, 
      DtAutoTransmissionGear gear, 
      double pitch);

   
   virtual double accelSoilFactor() const;

   virtual double decelSoilFactor() const;

   virtual DtString soilTypeString() const;

   virtual const DtSoilFactors* soilFactors(const DtString& soilType) const;

   virtual void calculateFactorsFromSoilAndWeather(const DtVector& location,
      double& tractionFactor, double& dragFactor);

   virtual double calculateMaximumTractionAcceleration(const double tractionFactor);

   virtual double calculateSoilDragDeceleration(const double dragFactor,
      const double speed);

   virtual double calculateAccelerationFromSlope(double pitch);

   virtual double slopeBoostRate() const;
   virtual void setSlopeBoostRate(const double boost);

   virtual double calculateSlopeBoostRate();


   virtual void calculateOrientationAndPosition(
      const DtVector& newLocalProjectedLocation, double newHeading, 
      DtDcm& newLocalOrientation, DtVector& newLocalPosition);


   virtual bool useHighFidelityGroundClamping() const;

   virtual bool useNavDataGroundClamping();
   
   bool groundClamp(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal, bool& dataAvailable);

   void groundClampHighFidelity(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal, bool& dataAvailable);

   void groundClampLowFidelity(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal, bool& dataAvailable);

   void groundClampWithNavData(double heading, const DtVector& location, 
      DtAttachedTerrain& terrain, DtVector& newNormal);


   virtual double calculateHeading(const double oldHeading, 
      const DtAutoTransmissionGear gear, 
      const double steering, const double throttle, const double distanceMovedFwd, 
      const double forwardSpeed, 
      const double maxTractionAcceleration, const double soilDragFactor, 
      const double dT, double& curvature);

   virtual DtVector calculateBodyAcceleration(double throttle, 
      DtAutoTransmissionGear gear, double brake, 
      const DtVector& oldBodyVelocity, double oldPitch, 
      double maxTractionAcceleration, double dragFactor, double dT);

   virtual DtVector calculateBodyVelocity(
     const DtVector& oldBodyVelocity, const DtVector& newBodyAcceleration,
     double dT);

   virtual DtVector calculateProjectedLocation(
      const DtVector& oldLocalPosition, const DtVector& newBodyAcceleration,
      const DtVector& oldBodyVelocity, double newHeading);

   virtual DtVector calculateProjectedLocationNoPivot(
      const DtVector& oldLocalPosition, const DtVector& newBodyAcceleration,
      const DtVector& oldBodyVelocity, double newHeading, const double signedCurvature);


   virtual bool checkForTerrainCollisions() const;

   virtual bool foundTerrainCollision(double heading,
                                      const DtVector& oldLocalPosition, 
                                      const DtVector& newLocalPosition,
                                      DtVrfChordIntersectionRecord 
                                      &collisionIntersectionRecord) const;

   virtual bool createMovementChord(DtChord& movementChord, 
                                    double heading,
                                    const DtVector& oldLocalPosition, 
                                    const DtVector& newLocalPosition) const;

   virtual bool terrainPassable(double heading,
                                const DtVrfChordIntersectionRecord&
                                terrainIntersectionRecord) const;


   virtual double calculateMaxSpeed();

   virtual double calculateMaxAcceleration();

   virtual void calculateDirectionOfLinearMotion(
      const DtDcm& newLocalOrientation, const DtVector& newLocalPosition, 
      DtDcm& newLocalDirectionOfLinearMotion);

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual bool createPSR();

   virtual bool rotationalVelocityShouldBeClamped(const DtVector&
      bodyRotationalVelocity);

   
   virtual double steeringControlValue() const;
   virtual double throttleControlValue() const;
   virtual double brakeControlValue() const;
   virtual DtAutoTransmissionGear gearControlValue() const;
   virtual bool parkingBrakeControlValue() const;


   virtual bool checkIfMoveOntoEmbarked(const DtVector& localPosition);
   
   virtual bool checkAndDisembarkIfEmbarked(const DtVector& localPosition);

   
   static void terainChangeNotification(const DtTerrainChangeNotificationInfo& terrainChangeInfo, void* usr);

   void processTerrainChangeNotification(const DtTerrainChangeNotificationInfo& terrainChangeInfo);

private:
   DtAutomotiveActuatorComponent();

   DtAutomotiveActuatorComponent(const DtAutomotiveActuatorComponent & orig);

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

protected:


   DtConstrainedAnalogInputPort* myThrottlePort;

   DtConstrainedAnalogInputPort* mySteeringPort;

   DtConstrainedAnalogInputPort* myBrakePort;

   DtConstrainedIntegerInputPort* myGearPort;

   DtBooleanInputPort* myParkingBrakePort;

   DtInputPortGroup* myAutomotiveControlPortGroup;

   DtBooleanInputPort* myClampToNavDataPort;


   DtGroundVehicleStateRepository * myGroundVehicleState;

   DtAutomotivePSR* myProcessState;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

   const DtAutomotiveActuatorDescriptor* myAutomotiveDescriptor;
   bool myKeepParentPosition;
   DtUUID myWasJustEmbarkedOn;

   double myLastPitch;
   double myLastPitchHeading;
   DtVector myLastPitchLocation;

   double mySlopeBoostRate;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;

   bool myTerrainUpdateTriggeredFlag;

   bool myDataUnavailableOnTerrainUpdate;

   bool myStuckWarningMessagePrinted;

   bool myDataUnavailableOnSoil;

};