/*
--------------------
Program: ESQUI
Info and Bugs: {marf,rsantana}@ctm.ulpgc.es 
-------------------------------------------

Copyright (c) 2006, Center for Technology in Medicine, University of Las Palmas
de Gran Canaria (Canary Islands, Spain).
All rights reserved.

This program is free software; you can redistribute it and/or modify it under 
the terms of the Creative Commons' "by-attribution" license 
(http://creativecommons.org/licenses/by/2.5).

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1) Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.
2) Redistributions in binary form must reproduce the above copyright 
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.


THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ``AS IS''
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
=============================================================================*/
#ifndef __vtkSimulation_h
#define __vtkSimulation_h

#include "vtkObject.h"
#include "vtkesquiT2MeshWin32Header.h"
#include <vector>


struct vtkMovementTool {
	vtkIdType ActiveTool;
	float Yaw;
	float Forward;
	float Pitch;
	float Roll;
};
enum vtkTypeOfMovement {
	FORWARD,
	YAW,
	PITCH,
	BACKWARD,
	ROLL
};

class vtkOrganCollection;
class vtkToolCollection;
class vtkColision;
class vtkInfoColision;
class vtkInfoColisionCollection;
class vtkRenderWindowInteractor;
class vtkPolyDataNormals;

class VTK_ESQUI_TMESH_EXPORT vtkSimulation: public vtkObject
{
public:

	vtkTypeRevisionMacro(vtkSimulation,vtkObject);
	static vtkSimulation* New();
	const char *GetClassName() {return "vtkSimulation";}
	void PrintSelf(ostream &os, vtkIndent indent);
	//! Set/Get the organ collection
	void SetOrganCollection(vtkOrganCollection *Organos);
	//! Set/Get the organ collection
	vtkOrganCollection* GetOrganCollection();

	//! Set/Get the tool collection
	void SetToolCollection(vtkToolCollection *Herramientas);
	//! Set/Get the tool collection
	vtkToolCollection* GetToolCollection();

	//! Set/Get the collision library
	void SetCollisionLibrary(vtkColision *Libreria);
	//! Set/Get the collision library
	vtkColision* GetCollisionLibrary();

	//! Set/Get the interactor
	void SetInteractor(vtkRenderWindowInteractor *iren);
	//! Set/Get the interactor
	vtkRenderWindowInteractor* GetInteractor();
	//! Executes a simulation step calling the needed methods.
	int SimulationStep();

	void SetActiveTool(vtkIdType Tool);

	vtkIdType GetActiveTool();

	void SetMovement(vtkTypeOfMovement Tipo, float valor);

protected:
	vtkSimulation();
	~vtkSimulation();

	vtkOrganCollection *Organos;
	vtkToolCollection *Herramientas;
	vtkColision *LibreriaColisiones;
	vtkRenderWindowInteractor *Interactor;
	//! Vertices pinzados por herramienta 1
	vtkInfoColisionCollection *_vVertexTool1;	
	//! Vertices pinzados por herramienta 2
	vtkInfoColisionCollection *_vVertexTool2;
	//! Para recalcular las normales
	vtkPolyDataNormals *Filtro;

	vtkMovementTool *Movement;
	float fStep;
	//BTX
	bool FreeContacts;
	//ETX
	
	
	//! Detects collisions calling to collision library
	int DetectCollisions();

	void AddEvents();

	void UpdateHaptics();

private:
	vtkSimulation(const vtkSimulation &);
	void operator=(const vtkSimulation &);
};
#endif