NearTrack.h

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/* Copyright © 2010 James Legg.
    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 3 of the License, or
    (at your option) any later version.
*/

#ifndef LIBTRACK_NEAR_TRACK_H
#define LIBTRACK_NEAR_TRACK_H

#include "Mesh/MeshFaces.h"

#include <set>

namespace Track
{

enum SensorIndex
{
    SENSOR_NAVIGABLE_DISTANCE = 0, 
    SENSOR_UNSIGNED_ANGLE = 1, 
    SENSOR_LAP_DISTANCE = 2, 
    SENSOR_LAP_DIFFERENTIAL = 3, 
    SENSOR_COUNT = 4 
};

class Track;

class NearTrack
{
    public:
        NearTrack(const MeshFaces::Graph & graph, btVector3 position);
        
        virtual ~NearTrack();
        
        btScalar move_towards(btVector3 position);
        
        btScalar jump_to(btVector3 position);
        
        btVector3 get_position() const;
        
        MeshFaces::Graph::vertex_descriptor get_face_descriptor() const;
        
        enum AttachSource
        {
            AS_VERTEX, 
            AS_EDGE, 
            AS_UNKOWN 
        };
        
        AttachSource get_object_type() const;
        
        unsigned long int get_object_name() const;
        
        void scan_direction(btVector3 glob, btScalar * results) const;
    protected:
        btVector3 m_object_coord;
        
        AttachSource m_object_type;
        
        unsigned long int m_object_name;
        
        btVector3 m_world_coord;
        
        MeshFaces::Graph::vertex_descriptor m_face;
        
        btScalar m_face_s;
        
        btScalar m_face_t;
        
        const MeshFaces::Graph & m_graph;
        
        std::set<MeshFaces::Graph::vertex_descriptor> examined;
        btScalar best_distance;
        MeshFaces::Graph::vertex_descriptor best_face;
        btVector3 best_world_coords;
        
        static btScalar face_u_interpolation(MeshFaces::FaceGraph face, btVector3 point);
        
        void set_info();
        
        void move_towards_recursive(btVector3 position);
};

} // namespace Track

#endif // LIBTRACK_NEAR_TRACK_H

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