missileControllerComponent.h

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/*******************************************************************************
** Copyright (c) 2021 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/missileLocalObjectFacade.h"
#include <matrix/vlVector.h>

class DtString;
class DtSimulationServices;
class DtConstrainedAnalogOutputPort;
class DtBooleanOutputPort;
class DtMissileStateRepository;
class DtTaitBryan;
class DtMissileFlightPSR;

class DT_DLL_vrfmodel DtMissileControllerComponent : public DtSingleTaskControllerComponent
{
public:

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

   virtual ~DtMissileControllerComponent() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual double distanceToTarget() const;

   virtual double approximateThrust(double speed) const;

   virtual void calculateSteering(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetVelocity,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut) = 0;

   virtual void calculateSteeringToPoint(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut);

   virtual void calculateSteeringUsingPropNav(const DtVector &relativeVelocity,
      const DtVector &localPosition,
      const DtVector &targetVelocity,
      const DtVector &targetPoint, 
      double& maneuverAccelXOut,
      double& maneuverAccelYOut,
      double& maneuverAccelZOut);

   virtual bool createMissileControlPortGroup();
   virtual bool createThrustPort();
   virtual bool createManeuverAccelXPort();
   virtual bool createManeuverAccelYPort();
   virtual bool createManeuverAccelZPort();
   virtual bool createSelfDestructPort();

   virtual DtConstrainedAnalogOutputPort * thrustPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelXPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelYPort();
   virtual DtConstrainedAnalogOutputPort * maneuverAccelZPort();
   virtual DtBooleanOutputPort *           selfDestructPort();

protected:
   
   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual void calculateTargetErrorOffset();

   virtual void lookupAndCacheProcessSR();

   virtual bool postAddComponentsInit() override;

   virtual void addRangeItems();

protected:
   DtMissileControllerComponent();

   DtMissileControllerComponent(const DtMissileControllerComponent & 
      orig);

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


protected:

   DtMissileStateRepository *       myMissileState;

   double                           myDistanceToTarget;


   DtOutputPortGroup *                    myMissileControlPortGroup;

   DtConstrainedAnalogOutputPort *        myThrustPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelXPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelYPort;

   DtConstrainedAnalogOutputPort *        myManeuverAccelZPort;

   DtBooleanOutputPort *                  mySelfDestructPort;


   DtVector                         myTargetErrorOffset;

   DtMissileFlightPSR*           myProcessState;

   DtMissileLocalObjectFacade myMissileLocalObjectFacade;
};