basic/geometry/geo_rangesensor/Range_Sensor.h

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#ifndef Range_Sensor_h
#define Range_Sensor_h 1

#include <iostream>
using std::ostream ;

#include "streams\mystreams.h"
#include "geometry\ObjectBase.h"
#include "geometry\ObjectGroup.h"
#include "geometry\mesh.h"
#include "geometry\MPK_Cylinder.h"
#include "geometry\MPK_Sphere.h"
#include "geometry\MPK_Box.h"
#include "math\math2.h"
#include "universe\universe.h"
#include "planners\output\O_Bitmap.h"
#include "MgcFrustum.h"

//#include "stdafx.h" //for TRACE calls


const int RAY_ARRAY_LIMIT = 256; //<-- don't change this, should be 256 to interface with octree code
const double minrange = 0.000001; //constant should be close to 0

//note: going from double to float in the octree generation code saves us 12 megs!
class ray_array_space
{
public:
  double values [RAY_ARRAY_LIMIT][RAY_ARRAY_LIMIT][3];
};

class Range_Sensor : public ObjectBase
{
  
public:

  Range_Sensor (FrameManager* frameManager);
  
  Range_Sensor (const Range_Sensor& right);
  
  virtual ~Range_Sensor();
  
  virtual bool IsInterfering (const Entity* entity) const;
  
  virtual bool CanCheckInterference (const Entity* entity) const;
  
  virtual void Serialize (ostream& os) const;
  
  virtual void Deserialize (istream& is);
  
  void SetAngle (double angle);
  
  void SetMaxRange (double maxrange);

  void SetMaxError (double maxerror);
  
  double GetAngle () const;
  
  double GetMaxRange () const;
  
  double GetMaxError () const;

  void Range_Sensor::Take_Picture (const std::vector< Entity* > allEntities, bool display2DMap);

  Entity* Range_Sensor::Clone () const;
  virtual bool Verify() const;

  double ray_source[3];
  double ray_coord_map[RAY_ARRAY_LIMIT][RAY_ARRAY_LIMIT][3]; //the output intersection coords
  double ray_depth_map[RAY_ARRAY_LIMIT][RAY_ARRAY_LIMIT];


protected:

  bool DisplayingBitmapEnabled;
  bool amDisplayingBitmap;

  O_Bitmap* bp;

  void Range_Sensor::AddEntityToDepthMap (const Entity* entity);
  void Range_Sensor::AddMeshToDepthMap (const Mesh& mesh);
  void Range_Sensor::AddCylinderToDepthMap (const MPK_Cylinder& mpk_cylinder);
  void Range_Sensor::AddSphereToDepthMap (const MPK_Sphere& mpk_sphere);
  void Range_Sensor::AddBoxToDepthMap (const MPK_Box& mpk_box);
  void Range_Sensor::Generate_Ray_Array ();
  void Range_Sensor::Generate_Coord_Map ();
  
  double angle;
  double maxrange;
  double maxerror;
 
  double angleratio; //will be set to tan(angle/2)

  MgcFrustum theFrustum; //shape of view frustum (automatically calculated for internal use)

  Matrix4x4 absFrame; //postion of frame relative to (0,0,0)
  
  ray_array_space* ray_array;  // these will be the normalized ray direction vectors

  int ray_half_limit;

  int user_ray_range_y;
  int lower_ray_lim_y;
  int upper_ray_lim_y;

  int user_ray_range_z;
  int lower_ray_lim_z;
  int upper_ray_lim_z;
  
private:
  
};


#endif

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