baseParachuteActuator.h

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/*******************************************************************************
** Copyright (c) 2019 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include <vrfmodel/fallingFromSkyActuatorComponent.h>
#include "vrfobjcore/platformLocalObjectFacade.h"

#include <matrix/LibMatrix.h>
#include <vlpi/disEnums.h>

class DtString;
class DtSimulationServices;
class DtVrfMovingObjectStateRepository;
class DtConstrainedAnalogInputPort;
class DtAnalogInputPort;
class DtBooleanInputPort;
class DtInputPortGroup;
class DtVectorInputPort;
class DtParachuteActuatorDescriptor;
class DtAnalogOutputPort;
class DtParachuteActuatorPSR;
class DtBooleanOutputPort;

class DT_DLL_vrfmodel DtBaseParachuteActuator : public DtFallingFromSkyActuatorComponent
{

public:

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

   virtual ~DtBaseParachuteActuator() 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 bool createPortGroups() override;
   virtual bool createPorts() override;

   virtual bool isFallingApplicable() override;

   virtual bool checkFallingApplicable(bool& dataAvailable);


   virtual double horizontalDragCoefficient() const;
   virtual double verticalDragCoefficient() const;
   virtual double windDragCoefficient() const;
   virtual double turningRate() const;

   virtual void calculateOrientation(
      const DtDcm& oldLocalOrientation, const DtVector& newBodyRotationRates, DtDcm& newLocalOrientation) override;

   virtual DtVector calculateDragForces(const DtVector& oldLocalPosition, const DtVector& oldLocalVelocity) override;

   virtual double dragAccelerationFromSpeed(double curSpeed, double coefficient) const;

   virtual double calcPitch(DtVector geocLoc, DtTaitBryan geocOri);

   virtual double calcRoll(DtVector geocLoc, DtTaitBryan geocOri);

   virtual void processLanding();

   virtual void processChuteDeployment();

   virtual void processFreeFall();


private:

   DtBaseParachuteActuator();

   DtBaseParachuteActuator(const DtBaseParachuteActuator& orig);

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

protected:

   virtual void fallFromSky() override;

   //virtual void executeSetPosture(DtLifeformState lifeformState);

   virtual bool checkForLandingDamage() const;

   virtual double downwardSpeed() const;

   virtual bool createPSR();

   virtual bool isCargoDoorOpen(const DtSimObject* entity) const;

   virtual double percentDeployed() const;

protected:

   DtParachuteActuatorDescriptor* myParachuteActuatorDescriptor;

   DtBooleanInputPort* myDeployedPort;
   DtConstrainedAnalogInputPort* myLeftToggleInputPort;
   DtConstrainedAnalogInputPort* myRightToggleInputPort;
   DtInputPortGroup* myParachuteControlInputPortGroup;

   DtAnalogOutputPort* myMaxTurnRateOutputPort;
   DtBooleanOutputPort* myFallingOutputPort;

   DtAnalogInputPort* myAglInputPort;

   DtParachuteActuatorPSR* myProcessState;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};