kinematicStateCS.h

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


#include <vrfStateData/vrfStateDataDefines.h>
#include "readerWriter/rwVector.h"
#include "vrfutil/rwTaitBryan.h"

#include <matrix/LibMatrix.h>

class Coordinate_System;

namespace makVrf
{
   class DT_DLL_vrfStateData DtKinematicStateCS : public DtReaderWriter
   {
   public:

   enum DtSimOrientationType
   {
      BodyToLocal,
      BodyToBody,
      BodyToGeocentric
   };

   enum DtRotationConstraint
   {
      FixedRotation,
      RotateAboutX,
      RotateAboutY,
      RotateAboutZ,
      UnconstrainedRotation
   };

   public:
      DtKinematicStateCS(DtSimOrientationType orientationType,
         const DtString& name = DtString::nullString(), 
         DtReaderWriterRegistry* parentRegistry = nullptr);

      DtKinematicStateCS(DtSimOrientationType orientationType,
         const DtSymbolString& name, 
         DtReaderWriterRegistry* parentRegistry = nullptr);

      DtKinematicStateCS(const DtKinematicStateCS& orig,
         const DtString& rwName = DtString::nullString(), 
         DtReaderWriterRegistry* parentRegistry = nullptr);

      DtKinematicStateCS(const DtKinematicStateCS& orig,
         const DtSymbolString& name, 
         DtReaderWriterRegistry* parentRegistry = nullptr);

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

      virtual ~DtKinematicStateCS() override;

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

      virtual DtKinematicStateCS* clone(
         const DtSymbolString& name, 
         DtReaderWriterRegistry* parentRegistry = nullptr) const;

      virtual void setUpdatesEnabled(bool);
      bool updatesEnabled() const
      {
         return myUpdatesEnabled;
      }

      virtual const DtVector& position() const;
      virtual void setPosition(const DtVector& position);

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

      virtual DtReal speed() const;
      virtual void setSpeed(DtReal speed);

      virtual const DtVector& acceleration() const;
      virtual void setAcceleration(const DtVector& acceleration);

      virtual const DtTaitBryan& orientation() const;

      virtual void setOrientation(const DtTaitBryan& orientation, 
         DtRotationConstraint recomputeMatrix = RotateAboutX);

      virtual const DtDcm& orientationMatrix() const;
      virtual DtDcm orientationMatrix(const DtTaitBryan& b) const;
      virtual void setOrientationMatrix(const DtDcm& orientationMatrix, 
         bool recomputeEulers = true);

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

      virtual DtRotationConstraint rotationConstraint() const;
      virtual void setRotationConstraint(DtRotationConstraint contraint);

      virtual void setCoordinateSystem(const Coordinate_System* coordinateSystem);

      virtual void getSelf(DtlObjPtr args, const DtReaderWriter::SearchPaths& searchPaths,
         const DtVariableBindingsList& variableBindings) override;  

   private:
   
      DtKinematicStateCS();

   protected:
      mutable DtRotationConstraint myRecomputeMatrix;
      mutable bool                 myRecomputeEulers;
      mutable bool                 myRecomputeSpeed;
      bool myUpdatesEnabled;

      DtRwVector                   myPosition;
      DtRwVector                   myVelocity;
      DtRwVector                   myAcceleration;

      DtSimOrientationType         myOrientationType;
      mutable DtRwTaitBryan        myOrientation;
      mutable DtDcm                myOrientationMatrix;
      DtRotationConstraint         myCurrentRotationConstraint;

      mutable DtReal               myCurrentSpeed;   

      const Coordinate_System*     myCoordinateSystemPtr;

      DtRwTaitBryan        myTopoOrientation;
   };
}