//  created:    2013/03/25
//  filename:   Simulator.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe de base du simulateur
//
/*********************************************************************/

#ifndef SIMULATOR_H
#define SIMULATOR_H

#include <FrameworkManager.h>
#include <stdint.h>

class Simulator_impl;

namespace flair {
    namespace core {
        class Quaternion;
        class Vector3D;
    }
}

namespace flair
{
namespace simulator
{
    class Model;
    class Gui;

    class Simulator: public core::FrameworkManager
    {
        friend class Model;
        friend class Gui;
        friend class GenericObject;

        public:
            //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
            Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);
            ~Simulator();
            void RunSimu(void);
            //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians
            float Yaw(void) const;
            //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
            core::Quaternion ToVRPNReference(core::Quaternion quat_in);
            core::Vector3D ToVRPNReference(core::Vector3D point_in);

        private:
            Simulator_impl* pimpl_;
    };

    /*!
    * \brief get Simulator
    *
    * \return the Simulator
    */
    Simulator* getSimulator(void);

} // end namespace simulator
} // end namespace flair

#endif // SIMULATOR_H