82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
#pragma once
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#include "LinearAlgebra/Polar.h"
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#include "LinearAlgebra/Quaternion.h"
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namespace Passer {
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namespace RoboidControl {
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/// @brief A thing is a functional component on a robot
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class Thing {
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public:
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/// @brief Default constructor for a Thing
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Thing(unsigned char id);
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/// @char The id of the thing
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unsigned char id;
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/// @brief The type of Thing
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unsigned int type;
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/// @brief The type of a switch sensor
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static const unsigned int SwitchType;
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/// @brief The type of a distance sensor
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static const unsigned int DistanceSensorType;
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/// @brief The type of a controlled motor
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static const unsigned int ControlledMotorType;
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/// @brief The type of an uncontrolled motor
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static const unsigned int UncontrolledMotorType;
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/// @brief The type of an object received from the network
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static const unsigned int ServoType;
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static const unsigned int ExternalType;
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/// @brief Check if the Thing is a Motor
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/// @returns True when the Thing is a Motor and False otherwise
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bool IsMotor();
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/// @brief Check if the Thing is a Sensor
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/// @returns True when the Thing is a Sensor and False otherwise
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bool IsSensor();
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Spherical position;
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Quaternion orientation;
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void SetModel(const char *url, Vector3 position = Vector3(0, 0, 0),
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Quaternion orientation = Quaternion::identity, float scale = 1);
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const char *modelUrl = nullptr;
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Vector3 modelPosition = Vector3::zero;
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Quaternion modelOrientation = Quaternion::identity;
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float modelScale = 1;
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void SetParent(Thing *parent);
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Thing *GetParent();
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void AddChild(Thing *child);
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Thing *GetChild(unsigned char childIx);
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protected:
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/// @brief Bitmask for Motor type
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static const unsigned int MotorType = 0x8000;
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/// @brief Bitmap for Sensor type
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static const unsigned int SensorType = 0x4000;
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/// @brief Basic Thing types
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enum class Type {
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Undetermined,
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// Sensor,
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Switch,
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DistanceSensor,
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// Motor,
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ControlledMotor,
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UncontrolledMotor,
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Servo,
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// Other
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ExternalSensor,
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};
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Thing *parent = nullptr;
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unsigned char childCount = 0;
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Thing **children = nullptr;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |