/cygdrive/d/src/svn/vrut/trunk/modules/collision_detection/collision_detection.h

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/*
 * $Id: Collision_detection.h $
 *
 * Description  : Template for general purpose module.
 * Author       : Filip Krystl <mail/Jabber: filip.krystl@gmail.com>  <ICQ: 110199228>
 *
 * Purpose      :
 *     Long description of what the file is for.
 */



#ifndef _collision_detection_H__
#define _collision_detection_H__

#include "../../core/src/scenemodule.h"
#include "../../core/src/geometrytriangles.h"
#include "collision_detectors.h"
#include "CollisionDetection_BVH.h"
//#include "SAH/bvh.h"




#include <vector>
#include <wx/list.h>
#include <map>





using namespace CollisionDetectionNamespace;

namespace VRUT
{
       const int     MODULE_VERSION = 1;


       class Collision_detection: public SceneModule
       {             
       public:
              Collision_detection(const MODULE_ID & _id, const wxString & _name, EventHandler * msgSink);

              virtual ~Collision_detection();

              virtual wxString GetDesc() const
              {
                     return wxT("Module to support collision detection");
              }

       protected:
              bool bModuleEnabled;
              Parameter::ParameterIdentificator bEnabledParamID;


              std::vector<NODE_ID> targer1IDs;
              std::vector<NODE_ID> targer1TabuIDs;
              wxString strTarget1;
              Parameter::ParameterIdentificator idTargerNodeID1ParamID;


              std::vector<NODE_ID> targer2IDs;
              std::vector<NODE_ID> targer2TabuIDs;
              wxString strTarget2;
              Parameter::ParameterIdentificator idTargerNodeID2ParamID;


              float fSepareteDistance;
              Parameter::ParameterIdentificator fSepareteDistanceParamID;

              bool bCalculateCollisionPoint;
              Parameter::ParameterIdentificator bCalculateCollisionPointParamID;


              bool bWriteEventsToLog;
              Parameter::ParameterIdentificator bWriteEventsToLogParamID;


              bool bWriteComputeTimeToLog;
              Parameter::ParameterIdentificator bWriteComputeTimeToLogParamID;



              bool bStopTargetNode1;
              Parameter::ParameterIdentificator bStopTargetNode1ParamID;


              bool bBVHCreated;

              BVH* node1BVH;

              BVH* node2BVH;

              std::map<NODE_ID,CollisionDetection_BVH*> mapOfBVHs;

              typedef std::pair <NODE_ID, CollisionDetection_BVH*> bvh_Pair;
              

              vector3 actualCollisionPlaneNormal;

              MATRIX oldTarget1WorldMATRIX;

              MATRIX target1WorldMATRIX;


              
              void getGeometryNodesFromSceneNode(const SceneNode* node, std::deque<NODE_ID>* nodeList);


              void getGeometryNodesFromBVHNode(const BVHNode* pNode, std::deque<NODE_ID>* nodeList);

              void parseTargetStrings(wxString strToParse, std::vector<NODE_ID>* IDs, std::vector<NODE_ID>* tabuIDs);

              void createBVHs();

              void findCollisionPairsInGeometries(CollisionDetection_BVHNode * pNode1, CollisionDetection_BVHNode * pNode2,std::vector<CollisionDetection_CollisionPair>* CollisionNodes);

              bool findIntersection(const BVHNode * pNode1, const BVHNode * pNode2);
              

              void reportCollision(const BVHNode * pNode1, const BVHNode * pNode2);
                            
              
              void testPrimitives(const BVHNode * pNode1, const BVHNode * pNode2, CollisionReport* collisionReport);


              int assignCollisionTrianglesToAreas(std::vector<CollisionArea>* CollisionAreas, Triangle tr1, Triangle tr2);

              void calculateCollisionPlane(std::vector<CollisionArea> *CollisionAreas, CollisionReport *report);

              void calculateCollisionPoint(std::vector<CollisionArea> *CollisionAreas, CollisionReport *report);

              void calculateCollisionRadiuses(std::vector<CollisionArea> *CollisionAreas, CollisionReport *report);


              virtual void processEvent(wxCommandEvent & evt);

              virtual void run();



              bool bTansformTargetNode1;
              Parameter::ParameterIdentificator bTansformTargetNode1ParamID;


              float fTansformAxisX;
              Parameter::ParameterIdentificator fTansformAxisXParamID;

              float fTansformAxisY;
              Parameter::ParameterIdentificator fTansformAxisYParamID;


              float fTansformAxisZ;
              Parameter::ParameterIdentificator fTansformAxisZParamID;





              //typedef std::pair <NODE_ID, Bvh*> SAH_BVH_Pair;
              //void findIntersection9(BvhNode * pNode1, BvhNode * pNode2,std::vector<SAH_CollisionPair>* CollisionNodes);
              //CollisionReport TestPrimitives9(const BVHNode * pNode1, const BVHNode * pNode2);
       };
};


EXPORT_VRUT_MODULE_FUNCTIONS( Collision_detection )


#endif

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