rotaryWingMoveAlongControllerComponent.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2000 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include "vrfmodel/rotaryWingTaskController.h"
#include "vrfutil/localVectorIterator.h"

class DtString;
class DtSimulationServices;
class DtRouteState;
class DtSimMessage;

class DtBooleanInputPort;
class DtInputPortGroup;
class DtVectorOutputPort;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtRotaryWingMoveAlongControllerComponent : public DtRotaryWingTaskController
{

public:

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

   virtual ~DtRotaryWingMoveAlongControllerComponent() override;


   virtual bool init() override;

   virtual void tick() override;

   virtual const char* type() const override;

   static void moveAlongCallback(DtSimMessage* msg, void* usr, DtSimTaskStatePtr taskStatePtr);

   virtual DtSimTaskStatePtr currentTaskState() const override;

   virtual void registerTaskMsgCallbacks() override;

   virtual void processRouteChanged(const DtSimObject* obj);

   static DtSimComponent * creator(const DtString& name, 
      DtLocalObject* owner,
      DtSimulationServices* simManager, 
      DtComponentDescriptor* desc = nullptr,
      DtReaderWriterRegistry* parentRegistry = nullptr);

   virtual bool setupRoute();

   virtual bool isMovingToward(const DtVector& ENUpoint);

   virtual void routeLogic();

   virtual void desiredVelocityAndPosition();


protected:

   virtual bool createPortGroups() override;

   virtual bool createPorts() override;

   virtual void processMoveAlong(const DtTaskMessage& msg, DtSimTaskStatePtr taskStatePtr);

   DtRotaryWingMoveAlongControllerComponent() = delete;
   DtRotaryWingMoveAlongControllerComponent(
      const DtRotaryWingMoveAlongControllerComponent& orig) = delete;

   DtRotaryWingMoveAlongControllerComponent& operator=(
      const DtRotaryWingMoveAlongControllerComponent& orig) = delete;

   virtual void pilotProperties();

   virtual void buildLocalRoute();

   virtual void emptyVertexList();

   static DtReaderWriter* provideNextRoutePointIndex(void* c);

   virtual void processEstimatedTotCalculation() override;

   virtual void clearTask() override;

protected:


   DtBooleanInputPort* myTerrainProximityInputPort;

   DtInputPortGroup* myTerrainProximityPortGroup;

   DtVectorOutputPort* myCurrentVertexLocationOutputPort;

   double           myDistanceSquared;

   DtSimObjectReference         myRoute;
   
   bool        myRouteHasChanged;

   bool myFinalPointIsCloseToGround;
};