Emitter.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PARTICLES_EMITTER_H
#define SURGSIM_PARTICLES_EMITTER_H

#include <cmath>
#include <memory>
#include <random>

#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Particles/RandomPointGenerator.h"


namespace SurgSim
{

namespace Framework
{
class Logger;
};

namespace Math
{
class Shape;
};

namespace Particles
{

class Representation;

enum EmitMode
{
    EMIT_MODE_VOLUME = 0,
    EMIT_MODE_SURFACE,
    EMIT_MODE_COUNT
};

SURGSIM_STATIC_REGISTRATION(Emitter);

class Emitter : public SurgSim::Framework::Behavior
{
public:
    explicit Emitter(const std::string& name);

    virtual ~Emitter();

    SURGSIM_CLASSNAME(SurgSim::Particles::Emitter);

    void update(double dt) override;

    int getTargetManagerType() const override;

    void setTarget(const std::shared_ptr<SurgSim::Framework::Component> target);

    const std::shared_ptr<SurgSim::Framework::Component> getTarget();

    void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);

    std::shared_ptr<SurgSim::Math::Shape> getShape() const;

    void setMode(int mode);

    int getMode() const;

    void setRate(double rate);

    double getRate() const;

    void setLifetimeRange(const std::pair<double, double>& range);

    std::pair<double, double> getLifetimeRange() const;

    void setVelocityRange(const std::pair<SurgSim::Math::Vector3d, SurgSim::Math::Vector3d>& range);

    const std::pair<SurgSim::Math::Vector3d, SurgSim::Math::Vector3d>& getVelocityRange() const;

    virtual void setLocalPose(const SurgSim::Math::RigidTransform3d& pose);

    virtual SurgSim::Math::RigidTransform3d getLocalPose() const;

    virtual SurgSim::Math::RigidTransform3d getPose() const;

private:
    bool doInitialize() override;
    bool doWakeUp() override;

    RandomPointGenerator m_pointGenerator;

    int m_mode;

    double m_rate;

    std::pair<double, double> m_lifetimeRange;

    std::pair<SurgSim::Math::Vector3d, SurgSim::Math::Vector3d> m_velocityRange;

    double m_particlesNotAdded;

    std::mt19937 m_generator;
    std::uniform_real_distribution<double> m_zeroOneDistribution;

    std::shared_ptr<SurgSim::Math::Shape> m_shape;

    std::shared_ptr<SurgSim::Particles::Representation> m_target;

    SurgSim::Math::RigidTransform3d m_localPose;

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;
};

}; // namespace Particles
}; // namespace SurgSim

#endif // SURGSIM_PARTICLES_EMITTER_H