rotaryWingActuatorComponent.h

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/****************************************************************************
 * Copyright (c) 2022 MAK Technologies, Inc.
 * All rights reserved.
 ****************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/actuatorComponent.h"
#include "vrfobjcore/platformLocalObjectFacade.h"
#include "vrfutil/rwAirSpeedType.h"
#include <matrix/LibMatrix.h>
#include <vlpi/disEnums.h>
#include <boost/signals2.hpp>

class DtString;
class DtSimulationServices;
class DtRotaryWingEntityStateRepository;
class DtConstrainedAnalogInputPort;
class DtConstrainedDualAxisAnalogInputPort;
class DtRotaryWingActuatorDescriptor;
class DtRotaryWingFlightPSR;
class DtPhysicalWorld;
class DtTerrainDatabase;
class DtUpdateRepositoryOutputPortGroup;
class DtAirspeedCalculator;


class DT_DLL_vrfmodel DtRotaryWingActuatorComponent : public DtActuatorComponent
{
public:

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

   virtual ~DtRotaryWingActuatorComponent() override;

   virtual bool init() override;

   virtual const char* type() const override;

   virtual void tick() override;

   virtual void useFuel(double fuelUsed);
   virtual double fuelLeft() const;

   virtual double fuelUsed(double speed) const;

   virtual void fallFromSky();

   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 createPSR();

   virtual void clampFrameRate();

   virtual void setLanded(const DtVector& localIntersectionPoint);

   virtual bool checkFlyingWithoutFuel();

   virtual void setYawAcceleration();
   virtual void calculateYawRate();

   virtual double calculateOneAxisOfOrientation(const int axis, const double angleInit, const double period, const double portValue, const double maxAccel, const double maxRate);
#if 0
   virtual void calculatePitchAcceleration();
   virtual void calculatePitchRate();

   virtual void calculateRollAcceleration();
   virtual void calculateRollRate();
#endif
   virtual void checkAndDetachIfNecessary();

   virtual void calculateOrientation();

   virtual void calculateNormalizedBodyVelocity();

   virtual void calculateLiftAcceleration();

   virtual double altitudePowerFactor(const double altitude);

   virtual void calculateResultantAcceleration();

   virtual void integrate();

   virtual void updateRepository();

   virtual void updateAirspeedToRepository();

   virtual void updateDisplay();

   virtual void checkLandedOrCrashed();


   virtual bool isCrashedIntoGround(const DtVector& localPosition, 
      const double downSpeed, 
      DtVector& localIntersectionPoint);

   virtual void sendDetonation(const DtVector& geocentricLocation);

   virtual bool isSubsurface() const;

   virtual bool componentInitialized() const;

   virtual bool engineOperational() const;

   virtual void updateAppearance();

   virtual void updateOrderedSpeed();

   virtual void preFirstTickInit() override;

   virtual void processSetLocationCallback();

private:
   
   DtRotaryWingActuatorComponent();

   DtRotaryWingActuatorComponent(const DtRotaryWingActuatorComponent & orig);

   DtRotaryWingActuatorComponent& operator=(const DtRotaryWingActuatorComponent& orig);


protected:

   DtRotaryWingEntityStateRepository*  myRotaryWingEntityState;
   DtRotaryWingActuatorDescriptor*     myRotaryWingActuatorDescriptor;

   
   DtInputPortGroup*                   myRotaryWingControlPortGroup;
         
   DtConstrainedAnalogInputPort*       myThrottlePort;

   DtConstrainedDualAxisAnalogInputPort*  myCyclicPort;

   DtConstrainedAnalogInputPort*       myPedalPort;

   DtConstrainedAnalogInputPort*       myCollectivePort;
   

   DtReal      myMaxDragAcceleration;
   DtVector    myBodyRotationalAcceleration;
   DtVector    myBodyRotationRates;
   DtTaitBryan myOrientation;
   DtDcm       myBodyToLocalMatrix;
   DtDcm       myLocalToBodyMatrix;
   DtReal      mySpeedRatioSquared;
   DtVector    myBodyVelocity;
   DtVector    myNormalizedBodyVelocity;
   DtVector    myBodyLift;
   DtVector    myBodyAcceleration;
   DtVector    myRelativeAcceleration;
   DtVector    myRelativeVelocity;
   DtReal      mySpeed;
   DtVector    myLocalPosition;
   DtVector    myLocalOrientation;
   DtReal      myAltitudeAGL;
   DtVector    myPreviousGroundClampedPosition;
   bool        myPrintedOutOfFuelMessage;

   DtRotaryWingFlightPSR* myProcessState;

   DtUpdateRepositoryOutputPortGroup* myUpdateRepositoryOutputPortGroup;

   double myHeightAboveGroundSupport;

   DtAirspeedCalculator* myAirSpeedCalculator;

   double myLastSpeed;

   DtPlatformLocalObjectFacade myPlatformLocalObjectFacade;
   boost::signals2::connection mySetLocationCompleteConnection;
};