CircularCam.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2016 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://home.gna.org/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program 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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_CIRCULARCAM_H
#define __ENKI_CIRCULARCAM_H

#include "../Interaction.h"
#include "../PhysicalEngine.h"

#include <valarray>

namespace Enki
{

    struct PixelOperationFunctor
    {
        virtual ~PixelOperationFunctor() { }
        virtual void operator()(double &zBuffer2, Color &pixelBuffer, const double &objectDist2, const Color &objectColor) = 0;
    };
    
    

    class CircularCam : public LocalInteraction
    {
    protected:
        Vector positionOffset;
        double height;
        Vector absPos;
        double absOrientation;

    public:
        std::valarray<double> zbuffer;
        std::valarray<Color> image;
        double halfFieldOfView;
        double angleOffset;
        
        bool useFog;
        double fogDensity;
        Color lightThreshold;
        
        PixelOperationFunctor *pixelOperation;

    public :

        CircularCam(Robot *owner, Vector pos, double height, double orientation, double halfFieldOfView, unsigned pixelCount);
        virtual ~CircularCam(){}
        virtual void init(double dt, World* w);
        virtual void objectStep(double dt, World *w, PhysicalObject *po);
        virtual void wallsStep(double dt, World* w);
        virtual void finalize(double dt, World* w);
        
        void setRange(double range);
        Point getAbsolutePosition(void) { return absPos; }
        double getAbsoluteOrientation(void) { return absOrientation; }
        
    protected:
        double interpolateLinear(double s0, double s1, double sv, double d0, double d1);
        void drawTexturedLine(const Point &p0, const Point &p1, const Texture &texture);
    };
    
    

    class OmniCam : public LocalInteraction
    {
    public:
        std::valarray<double> zbuffer;
        std::valarray<Color> image;
        
    protected:
        CircularCam cam0;
        CircularCam cam1;

    public :

        OmniCam(Robot *owner, double height, unsigned halfPixelCount);
        virtual ~OmniCam(){}
        virtual void init(double dt, World* w);
        virtual void objectStep(double dt, World *w, PhysicalObject *po);
        virtual void wallsStep(double dt, World* w);
        virtual void finalize(double dt, World* w);
        void setRange(double range);
        void setFogConditions(bool useFog, double density = 0.0, Color threshold = Color::black);
        void setPixelOperationFunctor(PixelOperationFunctor *pixelOperationFunctor);
    };
}
#endif