Modules/WalkingEngine/GT2005Polygon.h

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/***************************************************************************
* @file GT2005Polygon.h
* Definition of class GT2005Polygon
* @author Denis Fisseler
****************************************************************************/

#ifndef GT2005Polygon_h
#define GT2005Polygon_h

#include "Tools/Math/Vector3.h"
#include <string.h>
#include <math.h>

/***************************************************************************
* @class GT2005Polygon
*
* Polygon class for the GT2005 Walking Engine
* @author Denis Fisseler
***************************************************************************/
class GT2005Polygon
{
public:
  // Constructor
  GT2005Polygon(int nPoints = 0, int sLength = 0);

  // Destructor
  ~GT2005Polygon();

  int stepLength; // time for one cycle in ticks
  
//  <Finger weg sonst Finger ab!>
  enum {maxPoints = 128};
  typedef struct
  {
    Vector3<double> point; // coordinates of the point
    double sLen; // run-through-time for the edge relative to the time for the whole polygon
  } pSegment;
  pSegment pPoints[maxPoints];
//  </Finger weg sonst Finger ab!>

  int numPoints; // the number of points in use for this polygon

  // (only valid after calling finalize)
  double polyLengthX; // x-length  of the polygon
  double groundTime; // relative to stepLenght, approximated ground time for the polygon
  Vector3<double> centerOfMassCorrection;

  double rollAngle; // roll angle (x-axis)

  Vector3<double> getPointCoord(int pNum); // pNum: [0 ... numPoints-1]
  void setPointCoord(int pNum, Vector3<double> p); // pNum: [0 ... numPoints-1]

  void getSegment(int sNum, double &sLen, Vector3<double> &p); // sNum: [0 ... numPoints-1]
  void setSegment(int sNum, double sLen, Vector3<double> p); // sNum: [0 ... numPoints-1]
  double getSegmentLength(int sNum); // sNum: [0 ... numPoints-1]

  Vector3<double> getPositionOnShape(double pos); // pos: [0 ... 1]
  
  void insertPoint(int pNum); // pNum: point will be inserted between pNum and pNum+1

  GT2005Polygon* interpolateShape(double amount, GT2005Polygon* s2); // amount: [0 ... 1]
  void interpolateShapeP(double amount, GT2005Polygon* s2); // amount: [0 ... 1]    put the result in this poly

  int getMaxX();
  int getMinX();
  double approxGroundTime();
  Vector3<double> calculateCenterOfMass();
  void finalize();

  GT2005Polygon scaleX(double s); // return a polygon X-scaled around the zero position
  GT2005Polygon scaleY(double s); // return a polygon Y-scaled around the zero position

  GT2005Polygon rotateX(double a); // return a polygon X-rotated around the zero position
  GT2005Polygon rotateY(double a); // return a polygon Y-rotated around the zero position
  GT2005Polygon rotateZ(double a); // return a polygon Z-rotated around the zero position
  
  void rotateXP(double a); // modify polygon (X-rotate around the zero position)
  void rotateYP(double a); // modify polygon (Y-rotate around the zero position)
  void rotateZP(double a); // modify polygon (Z-rotate around the zero position)

  GT2005Polygon rotateZC(double a);  // return a polygon Z-rotated around the center of mass

  bool load(char* filename); // save polygon to a file
  void save(char* filename); // load polygon from a file

  GT2005Polygon* copy(); // return a copy of the polygon
  GT2005Polygon* mirrorY(); // return an Y-mirrored copy of the polygon
};

// streaming operators
In& operator>>(In& stream, GT2005Polygon& Polygon);
Out& operator<<(Out& stream, const GT2005Polygon& Polygon);

#endif // GT2005Polygon_h

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