worldsim/include/phymarxbot.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2012-2013                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Fabrizio Papi <erkito87@gmail.com>                                          *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef PHYMARXBOT_H
#define PHYMARXBOT_H

#include "worldsimconfig.h"
#include "wvector.h"
#include "wmatrix.h"
#include "world.h"
#include "motorcontrollers.h"
#include "sensorcontrollers.h"
#include <QVector>

namespace farsa {
    class PhyObject;
    class PhyJoint;
    class PhyCylinder;
    class PhyFixed;
    
    class FARSA_WSIM_API PhyMarXbot : public WObject {
        Q_OBJECT
    public:
        PhyMarXbot( World* world, QString name, const wMatrix& tm = wMatrix::identity() );
        virtual ~PhyMarXbot();
        WheelMotorController* wheelsController() {
            return wheelsCtrl;
        };
        IRSensorController* proximityIRSensorController() {
            return proximityIR;
        }
        IRSensorController* groundBottomIRSensorController() {
            return groundBottomIR;
        }
        IRSensorController* groundAroundIRSensorController() {
            return groundAroundIR;
        }
        virtual void preUpdate();
        virtual void postUpdate();
        void setProximityIRSensorsGraphicalProperties(bool drawSensor, bool drawRay = false, bool drawRealRay = false);
        void setGroundBottomIRSensorsGraphicalProperties(bool drawSensor, bool drawRay = false, bool drawRealRay = false);
        void setGroundAroundIRSensorsGraphicalProperties(bool drawSensor, bool drawRay = false, bool drawRealRay = false);
    public slots:

    protected:
        virtual void changedMatrix();

    private:
        PhyObject* base;
        QVector<PhyObject*> wheels;
        QVector<wMatrix> wheelstm;
        QVector<PhyJoint*> wheelJoints;
        WheelMotorController* wheelsCtrl;
        PhyObject* attachring;
        wMatrix attachringtm;
        PhyJoint* forcesensor;
        SimulatedIRProximitySensorController* proximityIR;
        SimulatedIRGroundSensorController* groundBottomIR;
        SimulatedIRGroundSensorController* groundAroundIR;
    };
} // end namespace farsa

#endif