CappedRectangle.h

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#ifndef CAPPEDRECTANGLE_H
#define CAPPEDRECTANGLE_H

#include "PhysicalObject.h"
class Border;
class Circle;

class CappedRectangle : public PhysicalObject {

public:
   CappedRectangle(real l, real R,                    
      real x = 0, real y = 0, real alpha = 0, std::string label="",
      int nSensorsLateral=0, int nSensorsSemicircle=0,
      real saturationForce=0.5,
      Color outlineColor = GUI::colorBlack, Color fillColor = GUI::colorTransparent
   );
   virtual ~CappedRectangle();

   virtual void computeMass(real density = ThyrixParameters::defaultDensity);

   virtual void computeInertia();

  virtual bool detectContacts(PhysicalObject* object,  GlobalContactInfoVector* contacts) {
      return object->detectContacts(this, contacts);
  }

   bool detectContacts(Border* border, GlobalContactInfoVector* contacts);

   bool detectContacts(Circle* circle,  GlobalContactInfoVector* contacts);

   bool detectContacts(CappedRectangle* capsule, GlobalContactInfoVector* contacts);

   bool detectMouseContact(const Vector2& rMouse, Vector2& p, PhysicalObject*& object);

   virtual void computeBox(){
      cosAlpha=cos(alpha);
      sinAlpha=sin(alpha);
      Vector2 rt(fabs(l*cosAlpha),fabs(l*sinAlpha));
      rt+=R+ThyrixParameters::halfEpsilonContact;
      boxMin=r; boxMin-=rt;
      boxMax=r; boxMax+=rt;
   }

   virtual void setSensor(ContactInfo* contact);
   
   void draw(GUI *gui);

   void drawSensors(GUI *gui);

//private:
   real l;
   real R;

   real cosAlpha;
   real sinAlpha;

   unsigned nSensorsLateral;

   unsigned nSensorsSemicircle;

private:
   int getISensorSemicircle(Vector2& p, int sign);

   void setISensorLateral(int& i1, int& i2, Vector2& p, real e1, real e2);

   int getISensorLateral(Vector2& p, real e);

   int getISensorLateral(real side, real e);

   real getLateralSide(Vector2& p){
      return -p.x*sinAlpha+p.y*cosAlpha;
   }

};

#endif //CAPPEDRECTANGLE_H

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