cens_engine.h

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// Computational Embodied Neuroscience Simulator (CENS) Library
// Copyright (c) 2010 Francesco Mannella
//
// cens_engine.h
// Copyright (c) 2010 Francesco Mannella
//
// This file is part of CENS library.
//
// CENS library 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 3 of the License, or
// (at your option) any later version.
//
// CENS library 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 CENS library.  If not, see <http://www.gnu.org/licenses/>.

#ifndef CENS_ENGINE_H
#define CENS_ENGINE_H

#include <iostream>

#include "cens_physics.h"
#include "cens_graphics.h"
#include "cens_types.h"



namespace cens 
{


    // Eigen - bt convertions ///////////////////////

    Eigen::Vector3f btVec2eigen(const btVector3& v);

    btVector3 eigen2btVec(const Eigen::Vector3f& v);

    btMatrix3x3 eigen2btMat(const Eigen::Matrix3f& v);

    Eigen::Matrix3f btMat2eigen(const btMatrix3x3& v);


    typedef std::map< btCollisionObject *, CENSGraphicsShape * > CENSShapes;


    class CENSEngine: public CENSPhysics, public CENSGraphics  
    {
        public:

            CENSEngine(); 

            virtual ~CENSEngine();

            virtual void init( 
                    int argc,       
                    char **argv       );

            virtual void initObjects() {};

            virtual void display();

            virtual void step(int value );

            virtual void run();
           
            virtual void stepRun();

            btRigidBody* localCreateRigidBody(
                    float mass, 
                    const btTransform& startTransform,
                    btCollisionShape* shape, 
                    const btVector3 &color = eigen2btVec(CENS_NULL_COLOR),
                    const TexCoords &texCoords = CENS_NULL_TEXCOORDS,
                    CENSPixelMap &pixmap = CENS_NULL_PIXMAP  );

            btRigidBody* localImportRigidBody(
                    btRigidBody* body, 
                    const btVector3 &color = eigen2btVec(CENS_NULL_COLOR),
                    const TexCoords &texCoords = CENS_NULL_TEXCOORDS,
                    CENSPixelMap &pixmap = CENS_NULL_PIXMAP  );

            btSoftBody* localCreateSoftBody(
                    float mass, 
                    btCollisionShape* shape,
                    const btVector3 &color = eigen2btVec(CENS_NULL_COLOR),
                    const TexCoords &texCoords = CENS_NULL_TEXCOORDS,
                    CENSPixelMap &pixmap = CENS_NULL_PIXMAP  );

            btSoftBody* localLinkSoftBody(
                    btSoftBody* body,
                    const btVector3 &color = eigen2btVec(CENS_NULL_COLOR),
                    const TexCoords &texCoords = CENS_NULL_TEXCOORDS,
                    CENSPixelMap &pixmap = CENS_NULL_PIXMAP  );


            virtual int attachCamera( 
                    btRigidBody *body,              
                    btTransform local_transform,    
                    std::string screenTitle,        
                    int screenWidth,                
                    int screenHeight,               
                    int screenXGap,                 
                    int screenYGap,                 
                    btVector3 up,                   
                    float target,                   
                    float foV=70.0,                 
                    float near=1.0,                 
                    float far=10000                 
                    );
        protected:

            struct CENSBodyCameraData 
            {

                int m_bcIdx;
                btRigidBody *m_bcBody;
                btTransform m_bcLocal_transform;
                btVector3 m_bcOrigin;
                btVector3 m_bcTarget;
                btVector3 m_bcUp;
            };

            CENSShapes m_eShapes;

            std::vector<CENSBodyCameraData> m_eAttachedCameras;

            virtual void syncAttachedCamera(
                    int index 
                    );

    };

}

#endif // CENS_ENGINE_H