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 "physphere.h"
#include <QVector>

namespace farsa {

class Arena;
class RobotOnPlane;
class WheeledRobot2DWrapper;

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

    class AngularRangeAndColor
    {
    public:
        AngularRangeAndColor() :
            minAngle(0.0),
            maxAngle(0.0),
            color()
        {
        }

        AngularRangeAndColor(double mn, double mx, QColor c) :
            minAngle(mn),
            maxAngle(mx),
            color(c)
        {
        }

        double minAngle;

        double maxAngle;

        QColor color;
    };

public:
    virtual WObject* wObject();

    virtual const WObject* wObject() const;

    virtual PhyObject* phyObject() = 0;

    virtual const PhyObject* phyObject() const = 0;

    virtual Type type() const = 0;

    virtual void setStatic(bool s);

    bool getStatic() const;

    virtual void setKinematic(bool b, bool c = false);

    bool getKinematic() const;

    void setPosition(wVector pos);

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

    wVector position() const;

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& mtr, QVector<AngularRangeAndColor>& rangesAndColors, double& distance, double maxDistance) const = 0;

    virtual bool computeDistanceAndOrientationFromRobot(const WheeledRobot2DWrapper& robot, double& distance, double& angle) const = 0;

    void setTexture(QString textureName);

    QString texture() const;

    void setColor(QColor color);

    QColor color() const;

    void setUseColorTextureOfOwner(bool b);

    bool useColorTextureOfOwner() const;

    void storePreviousMatrix()
    {
        m_previousMatrix = wObject()->matrix();
    }

    const wMatrix& previousMatrix() const
    {
        return m_previousMatrix;
    }

protected:
    PhyObject2DWrapper(Arena* arena);

    virtual ~PhyObject2DWrapper();

    Arena *const m_arena;

private:
    wMatrix m_previousMatrix;

    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 setKinematic(bool b, bool c = false);

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, QVector<AngularRangeAndColor>& rangesAndColors, double& distance, double maxDistance) const;

    virtual bool computeDistanceAndOrientationFromRobot(const WheeledRobot2DWrapper& robot, double& distance, double& angle) const;

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

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

    real width() const
    {
        return m_box->sideX();
    }

    real depth() const
    {
        return m_box->sideY();
    }

protected:
    Box2DWrapper(Arena* arena, 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 void setKinematic(bool b, bool c = false);

    virtual Type type() const;

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, QVector<AngularRangeAndColor>& rangesAndColors, double& distance, double maxDistance) const;

    virtual bool computeDistanceAndOrientationFromRobot(const WheeledRobot2DWrapper& robot, double& distance, double& angle) const;

    real radius() const
    {
        return m_cylinder->radius();
    }

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

    ~Cylinder2DWrapper();

private:
    PhyCylinder* const m_cylinder;

    const Type m_type;

    friend class Arena;
};

class FARSA_EXPERIMENTS_API Sphere2DWrapper : public PhyObject2DWrapper
{
public:
    virtual PhySphere* phyObject();

    virtual const PhySphere* phyObject() const;

    virtual void setStatic(bool s);

    virtual void setKinematic(bool b, bool c = false);

    virtual Type type() const;

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, QVector<AngularRangeAndColor>& rangesAndColors, double& distance, double maxDistance) const;

    virtual bool computeDistanceAndOrientationFromRobot(const WheeledRobot2DWrapper& robot, double& distance, double& angle) const;

    real radius() const
    {
        return m_sphere->radius();
    }

protected:
    Sphere2DWrapper(Arena* arena, PhySphere* sphere, Type type);

    ~Sphere2DWrapper();

private:
    PhySphere* const m_sphere;

    const Type m_type;

    friend class Arena;
};

class FARSA_EXPERIMENTS_API WheeledRobot2DWrapper : public PhyObject2DWrapper
{
public:

    RobotOnPlane* robotOnPlane();

    const RobotOnPlane* robotOnPlane() const;

    virtual WObject* wObject();

    virtual const WObject* wObject() const;

    virtual PhyObject* phyObject();

    virtual const PhyObject* phyObject() const;

    virtual Type type() const;

    virtual void setPosition(real x, real y);

    virtual void computeLinearViewFieldOccupiedRange(const wMatrix& cameraMtr, QVector<AngularRangeAndColor>& rangesAndColors, double& distance, double maxDistance) const;

    virtual bool computeDistanceAndOrientationFromRobot(const WheeledRobot2DWrapper& robot, double& distance, double& angle) const;

    double getHeight() const
    {
        return m_height;
    }

    double getRadius() const
    {
        return m_radius;
    }

protected:
    WheeledRobot2DWrapper(Arena* arena, RobotOnPlane* robot, double height, double radius);

    ~WheeledRobot2DWrapper();

private:
    RobotOnPlane* const m_robot;

    const double m_height;

    const double m_radius;

    friend class Arena;
};


wVector FARSA_EXPERIMENTS_API positionOnPlane(const Box2DWrapper* plane, real x, real y);

void FARSA_EXPERIMENTS_API orientationOnPlane(const Box2DWrapper* plane, real angle, wMatrix& mtr);

real FARSA_EXPERIMENTS_API angleBetweenXAxes(const wMatrix& mtr1, const wMatrix& mtr2);

} // end namespace farsa

#endif