rwVrfKinematicState.h

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/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once


#include "vrfStateData/rwSimKinematicState.h"
#include "vrfStateData/coordSysValidationVector.h"

namespace makVrf
{
   class DtRwVrfKinematicState;
   using DtRwVrfKinematicStateCreatorFcn = DtRwVrfKinematicState* (*)();

   class DT_DLL_vrfStateData DtRwVrfKinematicState : public DtRwSimKinematicState
   {
   public:
      DtRwVrfKinematicState();
      DtRwVrfKinematicState(const Coordinate_System* coordinateSystem);
      DtRwVrfKinematicState(const DtRwVrfKinematicState& orig);

      DtRwVrfKinematicState(const Coordinate_System* coordinateSystem,
         const DtString& rwName, DtReaderWriterRegistry * parentRegistry = nullptr);

      DtRwVrfKinematicState(const DtRwVrfKinematicState& orig, const DtString& rwName,
         DtReaderWriterRegistry * parentRegistry = nullptr);

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

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

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

      virtual ~DtRwVrfKinematicState() override;

      virtual DtRwSimKinematicState* clone(
         const DtString& rwName = DtString::nullString(),
         DtReaderWriterRegistry * parentRegistry = nullptr) const override;

      virtual void setCoordinateSystem(const Coordinate_System* coordinateSystem);
      virtual const Coordinate_System* coordinateSystem() const;

      virtual const DtVector& localPosition() const;
      virtual const DtVector& worldPosition() const override;
      virtual void setLocalPosition(const DtVector& localPosition);
      virtual void setWorldPosition(const DtVector& localPosition) override;
      virtual void setParentPosition(const DtVector& localPosition) override;
      virtual void validateLocalState();

      virtual const DtVector&localVelocity() const;
      virtual const DtVector&worldVelocity() const override;
      virtual void setLocalVelocity(const DtVector& localVelocity,
         bool recomputeSpeed = true);
      virtual void setWorldVelocity(const DtVector& localVelocity,
         bool recomputeSpeed = true) override;

      DtReal localSpeed() const;
      void setLocalSpeed(DtReal localSpeed);

      virtual const DtVector& localAcceleration() const;
      virtual const DtVector& worldAcceleration() const override;
      virtual void setLocalAcceleration(const DtVector& localAcceleration);
      virtual void setWorldAcceleration(const DtVector& localAcceleration) override;

      virtual const DtVector& relativeAcceleration() const;
      virtual void setRelativeAcceleration(const DtVector& localAcceleration);

      const DtKinematicStateCS& localKinematicState() const
      {
         return myLocalKinematicState;
      }

      virtual const DtVector& relativeVelocity() const;
      virtual void setRelativeVelocity(const DtVector& localVelocity,
         bool recomputeSpeed = true);

      virtual DtVector bodyVelocity() const override;

      virtual const DtTaitBryan& localOrientationWrtDatabase() const;
      virtual void setLocalOrientationWrtDatabase(const DtTaitBryan& localOrientation,
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);

      virtual const DtDcm& localOrientationMatrix() const;
      virtual void setLocalOrientationMatrix(const DtDcm& localOrientationMatrix,
         bool recomputeEulers = true);
      virtual void setWorldOrientationMatrix(const DtDcm& localOrientationMatrix,
         bool recomputeEulers = true) override;

      virtual void setRotationConstraint(
         DtKinematicStateCS::DtRotationConstraint constraint) override;

      virtual const DtTaitBryan& localOrientation() const;
      virtual const DtTaitBryan& worldOrientation() const override;
      virtual void setLocalOrientation(const DtTaitBryan& topoOrientation,
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX);
      virtual void setWorldOrientation(const DtTaitBryan& topoOrientation,
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX) override;
      virtual void setParentOrientation(const DtTaitBryan& topoOrientation,
         DtKinematicStateCS::DtRotationConstraint recomputeMatrix = DtKinematicStateCS::RotateAboutX) override;

   public:

      DtCoordSysValidationVector& localVV();
      const DtCoordSysValidationVector& localVV() const;

      virtual void invalidateState() override;
      virtual void validateState() override;

      virtual void invalidateRelativeVelocity();
      virtual void validateRelativeVelocity();

      virtual void invalidateRelativeAcceleration();
      virtual void validateRelativeAcceleration();

      static DtRwVrfKinematicState* create();
      static DtRwVrfKinematicStateCreatorFcn setRwVrfKinematicStateCreatorFcn(DtRwVrfKinematicStateCreatorFcn);

   protected:
      virtual void detach() override;
      virtual void attach() override;
      virtual void postGetSelf() override;

   protected:

      mutable DtKinematicStateCS myLocalKinematicState;
      mutable DtCoordSysValidationVector myLocalVV;

      const Coordinate_System* myCoordinateSystemPtr;

      mutable DtTaitBryan myTopoOrientation;

      mutable DtVector myRelativeAcceleration;
      mutable bool myRelativeAccelerationInvalid;

      mutable DtVector myRelativeVelocity;
      mutable bool myRelativeVelocityInvalid;

      static DtRwVrfKinematicStateCreatorFcn theRwVrfKinematicStateCreatorFcn;
   };
}