SbotCam.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2005 Stephane Magnenat <stephane at magnenat dot net>
     Copyright (C) 2005 Laboratory of Intelligent Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator part of the Teem framework
    http://teem.epfl.ch
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __SBOTCAM_H
#define __SBOTCAM_H

#include <enki/Interaction.h>
#include <enki/PhysicalEngine.h>
#include <enki/interactions/CircularCam.h>

#include <valarray>

namespace Enki
{
    class Sbot;
    

    class SbotCam : public LocalInteraction
    {
    public:
        std::valarray<double> zbuffer;
        std::valarray<An::Color> image;
        
    protected:
        CircularCam cam0;
        CircularCam cam1;

    public :
        SbotCam(Sbot *owner, unsigned halfPixelCount); 
        virtual ~SbotCam(){}
        virtual void init();
        virtual void objectStep (double dt, PhysicalObject *po, World *w);
        virtual void wallsStep(World *w);
        virtual void finalize(double dt);
        void setFogConditions(bool useFog, double density = 0.0, An::Color threshold = An::Color::black);
        void setRange(double range);
        void setPixelOperationFunctor(PixelOperationFunctor *pixelOperationFunctor);
    };
}
#endif

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