ContactSensor.h

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#pragma once


namespace AnimatSim
{
        namespace Environment
        {
                class ANIMAT_PORT ContactSensor : public AnimatBase  
                {
                protected:
                        CStdPtrArray<ReceptiveField> m_aryFields;

                        Gain *m_lpFieldGain;

                        Gain *m_lpCurrentGain;

                        float m_fltMaxForce;

                        void LoadReceptiveField(CStdXml &oXml);

                        bool FindReceptiveField(CStdPtrArray<ReceptiveField> &aryFields, float fltX, float fltY, float fltZ, int &iIndex);

                        void DumpVertices(CStdPtrArray<ReceptiveField> &aryFields);

                        virtual void AddReceptiveField(std::string strXml);
                        virtual void RemoveReceptiveField(std::string strID, bool bThrowError = true);
                        virtual int FindReceptiveFieldListPos(std::string strID, bool bThrowError = true);

                public:
                        ContactSensor();
                        virtual ~ContactSensor();
                        
                        static ContactSensor *CastToDerived(AnimatBase *lpBase) {return static_cast<ContactSensor*>(lpBase);}

                        Gain *FieldGain();
                        Gain *CurrentGain();

                        ReceptiveField *GetReceptiveField(int iIndex);
                        bool FindReceptiveField(float fltX, float fltY, float fltZ, int &iIndex);
                        int FindClosestReceptiveField(float fltX, float fltY, float fltZ);
                        void FinishedAddingVertices();

#pragma region DataAccesMethods

                        virtual bool AddItem(const std::string &strItemType, const std::string &strXml, bool bThrowError = true, bool bDoNotInit = false);
                        virtual bool RemoveItem(const std::string &strItemType, const std::string &strID, bool bThrowError = true);

#pragma endregion

                        void ClearCurrents();
                        void ProcessContact(StdVector3 vPos, float fltForceMagnitude);
                        virtual void Load(CStdXml &oXml);
                };

        }                       // Environment
}                               //AnimatSim