BulletShapeModel.h

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#ifndef BulletShapeModel_h
#define BulletShapeModel_h
/* SPDX-License-Identifier: CC0-1.0 */
#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