Simulator.h

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#ifndef SIMULATOR_H
#define SIMULATOR_H

#include "World.h"
#include "Integrator.h"
#include "GlobalContactInfo.h"
#include "PhysicalObject.h"
#include "ContactSolver.h"
#include <set>

class Simulator : public World {
public:
   Simulator(); 
   virtual ~Simulator();

   virtual double getDt() const { return (double)integrator.getDt(); }
   
   virtual void advanceTime();

   void registerObject(PhysicalObject* object);

   void registerPrimitive(PhysicalObject* object);

   void setup(){}


   void indexContacts();

   void fillContactMatrix();

   virtual void detectContacts();

   void computeContacts();

   virtual void draw(GUI *gui);

   //Processing of user input: the user may apply forces to objects in the simulator,
   //by clicking and dragging with the mouse. 

   PhysicalObject* draggedObject;
   Vector2 draggingPoint;

   void setMouseForce(float x, float y);

   void unsetMouseForce();

   
   virtual void onMouseLeftDown(float x, float y){
      World::onMouseLeftDown(x,y);
      setMouseForce(x,y);
   }

   virtual void onMouseLeftUp(float x, float y){
      World::onMouseLeftUp(x,y);
      unsetMouseForce();
   }
   

   void applyMouseForce();

   ContactSolver* contactSolver;
   
   PhysicalObjectPVector objects;

   PhysicalObjectPVector primitives;

   GlobalContactInfoVector contacts;

protected:

   Integrator integrator;

   virtual void controll();

   real realTime;

private:
   void deleteObjects();

   void deleteContacts();

   bool isContact;

   PhysicalObjectPVector sortedObjects[2];
   void sortObjects(int n);

   class ObjectPair {
      public:
      ObjectPair() { o1=o2=NULL; }
      ObjectPair(PhysicalObject* no1, PhysicalObject* no2){
         //the pair is kept ordered in order to be unique
         if(no1<no2) {o1=no1; o2=no2;} else {o2=no1; o1=no2;}
      }
      PhysicalObject* o1;
      PhysicalObject* o2;
      bool operator<(const ObjectPair& p2) const{
         if(o1<p2.o1)return true;
         else if(o1==p2.o1) return o2<p2.o2;
         else return false;
      }
   };

   std::set<ObjectPair> xContacts, xyContacts;


};

#endif //SIMULATOR_H

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