lookAtActuator.h

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/*******************************************************************************
** Copyright (c) 2017 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

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

class DtLookAtActuatorDescriptor;
class DtAnalogInputPort;
class DtBooleanInputPort;
class DtVectorInputPort;
class DtInputPortGroup;

namespace makVrf
{
   class DtArticulatedPartStateRepository;
}


class DT_DLL_vrfmodel DtLookAtActuator : public DtActuatorComponent
{

public:

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


   virtual ~DtLookAtActuator() 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);

   virtual bool init() override;

protected:

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual void positionHead(double elevation, double azimuith);

   virtual void elevateHead(double elevation);

   virtual void rotateHead(double azimuth);

   virtual void getElevationAndAzimuth(double& elevation, double& azimuth);

   virtual double elevationAngleToLocalPoint(const DtVector& localPoint, bool& failed);

   virtual double azimuthAngleToLocalPoint(const DtVector&, bool& failed);

   virtual void nodHead();

   virtual void shakeHead();

   virtual double elevationRate();

   virtual double azimuthRate();

protected:
   
   DtLookAtActuator();

   DtLookAtActuator(const DtLookAtActuator & orig);

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

protected:
   double   myNodOrShakeDirection;
   DtLookAtActuatorDescriptor*         myLookAtDescriptor;
   DtArtPartType                       myHeadArtPart;
   makVrf::DtArticulatedPartStateRepository*   myHead;

   DtInputPortGroup* myLookAtControlPortGroup;

   DtVectorInputPort* myLookAtPointPort;

   DtBooleanInputPort* myLookAtAnglePort;

   DtAnalogInputPort* myLookAtAzimuthPort;

   DtAnalogInputPort* myLookAtElevationPort;

   DtAnalogInputPort* myNodOrShakePort;

   DtVectorInputPort* myNodOrShakeRatesPort;

   DtBooleanInputPort* myResetHeadPort;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
};