GoalOBB.h

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/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __GOAL_OBB_H__
#define __GOAL_OBB_H__

#include "CoreConfig.h"
#include "fsmCommon.h"
#include "Goals/Goal.h"
#include "Goals/GoalFactory.h"

namespace Menge {

    namespace BFSM {
        class MENGE_API OBBGoal : public Goal {
        public:
            OBBGoal();

            virtual float squaredDistance( const Vector2 & pt ) const;

            virtual void setDirections( const Vector2 & q, float r, Agents::PrefVelocity & directions ) const;

            virtual Vector2 getTargetPoint( const Vector2 & q, float r ) const;

            virtual Vector2 getCentroid() const;

            inline void setPivot( float x, float y ) { _pivot.set( x, y ); }

            inline void setPivot( const Vector2 & p ) { _pivot.set( p ); }

            inline void setSize( float w, float h ) { _size.set( w, h ); }

            inline void setSize( const Vector2 & size ) { _size.set( size ); }

            void setRotation( float angle );

        protected:
            virtual void drawGLGeometry() const;

            Vector2 _pivot;

            Vector2 _size;

            Vector2 _rot0;

            Vector2 _rot1;
        };

        class MENGE_API OBBGoalFactory : public GoalFactory { 
        public:
            OBBGoalFactory();

            virtual const char * name() const { return "OBB"; }

            virtual const char * description() const {
                return "An agent goal consisting of an oriented bounding box in two-dimensional space";
            };

        protected:
            Goal * instance() const { return new OBBGoal(); }   

            virtual bool setFromXML( Goal * goal, TiXmlElement * node, const std::string & behaveFldr ) const;
        
            size_t  _xID;

            size_t  _yID;
        
            size_t  _wID;

            size_t  _hID;
        
            size_t  _aID;
        };
    }   // namespace BFSM
}   // namespace Menge

#endif // __GOAL_OBB_H__