draw_obstacles.H

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// Copyright (C) 2004-2007 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Nitin, Arun Pratap, Christopher Mire

#ifndef CAJUN_DRAW_OBSTACLES_H
#define CAJUN_DRAW_OBSTACLES_H

// #define BOX 0
// #define SPHERE 1
// #define CYLINDER 2
// #define WHEEL 3

#define NUM_OBJECTS 100

#include <vector>
#include "queue_generator.H"
#include "model.H"
#include "world_state.H"
#include "component_interface.H"
#include "conf.H"

namespace cajun
{
class draw_obstacles_t : public component_interface_t
{
private:
        Model *m_pWheel;
        Model *m_pVehicle;
        std::vector<obstacle_data_t> m_obstacle_list;
        obstacle_data_t m_obstacle_data;
        int m_object_lookup[NUM_OBJECTS];//dynamic
        unsigned m_list_counter;
        int m_viz_mode;
        double m_object_rotation[16];

        unsigned m_qid;
        world_state_t *m_ws;

        bool m_display_vel;
        bool m_display_id;
public:
        draw_obstacles_t (double cbviz_origin_[3], unsigned qid_,
                          world_state_t *ws_, conf_t &viz_conf_,
                          int viz_mode_);
        void init_data ();
        void update_data (double bot_pos_[3]);
        void display (double cbviz_origin_[3]);
        void toggle_display () { m_display = ! m_display; }
};
};
#endif

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