wheeledexperimenthelper.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  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 WHEELEDEXPERIMENTHELPER_H
#define WHEELEDEXPERIMENTHELPER_H

#include "experimentsconfig.h"
#include "parametersettable.h"
#include "resourcesuser.h"
#include "world.h"
#include "wvector.h"
#include "phyobject.h"
#include "phybox.h"
#include "phycylinder.h"
#include <QVector>

namespace farsa {

class Arena;

class FARSA_EXPERIMENTS_API PhyObject2DWrapper
{
public:
    enum Type {
        Plane = 0,
        Wall,
        Box,
        RectangularTargetArea,
        Cylinder,
        SmallCylinder,
        BigCylinder,
        CircularTargetArea,
        NumberOfDifferentTypes
    };

public:
    virtual PhyObject* phyObject() = 0;

    virtual const PhyObject* phyObject() const = 0;

    virtual Type type() const = 0;

    virtual void setStatic(bool s);

    bool getStatic() const;

    void setPosition(wVector pos);

    virtual void setPosition(real x, real y) = 0;

    wVector position() const;

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& mtr, double& minAngle, double& maxAngle, double& distance) const = 0;

    void setTexture(QString textureName);

    QString texture() const;

    void setColor(QColor color);

    QColor color() const;

    void setUseColorTextureOfOwner(bool b);

    bool useColorTextureOfOwner() const;

protected:
    PhyObject2DWrapper();

    virtual ~PhyObject2DWrapper();

private:
    PhyObject2DWrapper(const PhyObject2DWrapper&);

    PhyObject2DWrapper& operator=(const PhyObject2DWrapper&);

    friend class Arena;
};

class FARSA_EXPERIMENTS_API Box2DWrapper : public PhyObject2DWrapper
{
public:
    virtual PhyBox* phyObject();

    virtual const PhyBox* phyObject() const;

    virtual Type type() const;

    virtual void setStatic(bool s);

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, double& minAngle, double& maxAngle, double& distance) const;

    const wVector& vertex(int i) const
    {
        return m_vertexes[i];
    }

    const wVector& centerOnPlane() const
    {
        return m_centerOnPlane;
    }

protected:
    Box2DWrapper(PhyBox* box, Type type);

    ~Box2DWrapper();

private:
    PhyBox* const m_box;

    QVector<wVector> m_vertexes;

    wVector m_centerOnPlane;

    const Type m_type;

    friend class Arena;
};

class FARSA_EXPERIMENTS_API Cylinder2DWrapper : public PhyObject2DWrapper
{
public:
    virtual PhyCylinder* phyObject();

    virtual const PhyCylinder* phyObject() const;

    virtual void setStatic(bool s);

    virtual Type type() const;

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, double& minAngle, double& maxAngle, double& distance) const;

protected:
    Cylinder2DWrapper(PhyCylinder* cylinder, Type type);

    ~Cylinder2DWrapper();

private:
    PhyCylinder* const m_cylinder;

    const Type m_type;

    friend class Arena;
};

} // end namespace farsa

#endif