//  created:    2013/03/25
//  filename:   Model_impl.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe definissant un modele a simuler
//
/*********************************************************************/

#ifndef MODEL_IMPL_H
#define MODEL_IMPL_H

#include <Thread.h>
#include <vrpn_Tracker.h>
#include "Model.h"
#include "Quaternion.h"

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class Mutex;
        class ConditionVariable;
    }
    namespace gui
    {
        class TabWidget;
        class CheckBox;
        class DoubleSpinBox;
        class SpinBox;
        class Vector3DSpinBox;
    }
    namespace simulator
    {
        class Simulator;
        class AnimPoursuite;
    }
}

#ifdef GL
#include <Vector3D.h>
#include <IMeshSceneNode.h>

namespace irr
{
    namespace scene
    {
        class ISceneManager;
        class ITriangleSelector;
        class IMetaTriangleSelector;
        class ISceneNodeAnimatorCollisionResponse;
        class ICameraSceneNode;
    }
}
#endif

#ifdef GL
class Model_impl : public irr::scene::ISceneNode,public flair::core::Thread,private vrpn_Tracker
#else
class Model_impl : public flair::core::Thread, private vrpn_Tracker
#endif
{
    public:
#ifdef GL
        Model_impl(flair::simulator::Model* self,std::string name,irr::scene::ISceneManager* scenemanager,vrpn_Connection_IP* vrpn);
#else
        Model_impl(flair::simulator::Model* self,std::string name,vrpn_Connection_IP* vrpn);
#endif
        ~Model_impl();

#ifdef GL
        void OnRegisterSceneNode(void);
        void render(void);
        void Draw(void){printf("CA MARCHE PAS PUNAISE\r\n");ExtraDraw();};
        void ExtraDraw(void){printf("nope\r\n");};

        const irr::core::aabbox3d<irr::f32>& getBoundingBox(void) const
        {
            return box;
        }
        void UpdatePos(void);
        void CheckCollision(void);
        irr::scene::ITriangleSelector* TriangleSelector(void);
        irr::scene::IMetaTriangleSelector* MetaTriangleSelector(void);
        irr::core::aabbox3d<irr::f32> box;
        void SynchronizationPoint();
        irr::scene::ICameraSceneNode* camera;
        flair::simulator::AnimPoursuite* animator;
        irr::scene::ITriangleSelector* selector;
#endif
        void mainloop(void);

        flair::gui::TabWidget *tabwidget;
        flair::gui::DoubleSpinBox *dT;

    private:
        flair::gui::Vector3DSpinBox* pos_init;
        flair::gui::SpinBox *yaw_init;
        flair::gui::CheckBox *enable_opti;
        flair::simulator::Model* self;
        flair::core::cvmatrix* output;
        flair::core::Mutex *states_mutex;

        struct timeval _timestamp;
        void Run(void);
        flair::core::Quaternion ComputeInitRotation(flair::core::Quaternion quat_in);
#ifdef GL
        void CollisionHandler(void);

        irr::scene::IMetaTriangleSelector* meta_selector;
        irr::scene::ISceneNodeAnimatorCollisionResponse* anim;

        bool position_init;

        flair::core::ConditionVariable* cond;
        int sync_count;

        flair::core::Mutex *collision_mutex;
        bool collision_occured;
        flair::core::Vector3D collision_point;
#endif

};

#endif // MODEL_IMPL_H