VisualSensor.h

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#ifndef PROXIMITYSENSOR_H
#define PROXIMITYSENSOR_H

#include "PhysicalObject.h"

class VisualSensor : public PhysicalObject  {
public:
   VisualSensor(PhysicalObject* parent, real relativeX, real relativeY, 
      real relativeAlpha, real R, real viewAngle, unsigned int nSensors,
      std::string label="");
   virtual ~VisualSensor();


   virtual bool detectContacts(PhysicalObject* object, GlobalContactInfoVector* contacts) { 
      return object->detectContacts(this, contacts);
   }
   
   bool detectContacts(Border* border, GlobalContactInfoVector* contacts){
      return false;
   }

   bool detectContacts(Circle* circle,  GlobalContactInfoVector* contacts);

   bool detectContacts(CappedRectangle* capsule,  GlobalContactInfoVector* contacts);


   virtual void draw(GUI *gui);

private:

   real R;

   real viewAngle;
   
   real delta;

   real epsilon;

   void activate(real gammaM, real gammaP);

   real computeGamma(real dx, real dy){
      real alpha0 = atan2(dy, dx); //-Pi..Pi
      
      real gamma = alpha0 - (parent->alpha+relativeAlpha);
      
      while (gamma <= -M_PI) {
         gamma += 2*M_PI; 
      } 
      while (gamma > M_PI) {
         gamma -= 2*M_PI;
      }
   
      //gamma is now between (-Pi,Pi]
      return gamma;
   }

   //real g1,g2; //used for debugging

};

#endif //PROXIMITYSENSOR_H

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