BulletShapeModel.h

Go to the documentation of this file.

#ifndef BulletShapeModel_h
#define BulletShapeModel_h

#include "ShapeModel.h"

#include <vector>

#include <QList>
#include <QMap>

#include "Intercept.h"
#include "BulletAllHitsRayCallback.h"
#include "BulletClosestRayCallback.h"
#include "BulletTargetShape.h"
#include "BulletWorldManager.h"
#include "Target.h"

namespace Isis {
  class Target;

  class BulletShapeModel : public ShapeModel {
    public:
      // Constructors
      BulletShapeModel();
      BulletShapeModel(Target *target, Pvl &pvl);
      BulletShapeModel(const QString &shapefile, Target *target, Pvl &pvl);
      BulletShapeModel(BulletTargetShape *shape, Target *target, Pvl &pvl);
      BulletShapeModel(BulletWorldManager *model, Target *target, Pvl &pvl);

      // Destructor
      ~BulletShapeModel();

      double getTolerance() const;
      void   setTolerance(const double &tolerance);

      // Intersect the shape model
      bool intersectSurface(std::vector<double> observerPos,
                            std::vector<double> lookDirection);
      virtual bool intersectSurface(const Latitude &lat, const Longitude &lon,
                                    const std::vector<double> &observerPos,
                                    const bool &checkOcclusion = true);
      virtual bool intersectSurface(const SurfacePoint &surfpt, 
                                    const std::vector<double> &observerPos,
                                    const bool &checkOcclusion = true);

      virtual void setSurfacePoint(const SurfacePoint &surfacePoint);
      virtual void clearSurfacePoint();

      // Calculate the default normal of the current intersection point
      void calculateDefaultNormal();

      bool isDEM() const;

      // Calculate the surface normal of the current intersection point
      void setLocalNormalFromIntercept();
      void calculateLocalNormal(QVector<double *> cornerNeighborPoints);
      void calculateSurfaceNormal();

      Distance localRadius(const Latitude &lat, const Longitude &lon);

      QVector<double> ellipsoidNormal();

      const BulletWorldManager &model() const;


      // Determine if the internal intercept is occluded from the observer/lookdir
      virtual bool isVisibleFrom(const std::vector<double> observerPos,
                                 const std::vector<double> lookDirection);

    private:
      // Disallow copying because ShapeModel is not copyable
      Q_DISABLE_COPY(BulletShapeModel)

      QScopedPointer<BulletWorldManager> m_model;        
      double                             m_tolerance;    
      BulletClosestRayCallback           m_intercept;    
      btScalar maxDistance() const;

      btVector3 castLookDir(const btVector3 &observer, const btVector3 &lookdir) const;
      btVector3 latlonToVector(const Latitude &lat, const Longitude &lon) const;
      btVector3 pointToVector(const  SurfacePoint &point) const;
      SurfacePoint makeSurfacePoint(const btVector3 &point) const;

      QVector<BulletClosestRayCallback> sortHits(const BulletAllHitsRayCallback &hits,
                                                 const btVector3 &sortPoint) const;
      bool isOccluded(const BulletClosestRayCallback &hit,
                      const btVector3 &observer) const;

      void updateShapeModel(const BulletClosestRayCallback &result);


  };
}

#endif