include/Haptics.h

#ifndef _HAPTICS_
#define _HAPTICS_

#include <windows.h>
#include <hdl/hdl.h>
#include <hdlu/hdlu.h>
#include <Vector3D.h>
#include <time.h>
#include <Level2D.h>
#include <disableWarnings.h>

namespace sonus
{

        typedef int HapticsButton;

        struct WallMaterial
        {
                int servoResolution;
                double frequency;
                double scale;
                int accuracy;
                Vector3D force;

                WallMaterial()
                {
                        servoResolution = 1;
                        frequency = 5;
                        scale = 0.3;
                        accuracy = 10000000;
                };
        };

        class Haptics
        {
                public:

                        Haptics();

                        void                            getPosition( Vector3D* vec );

                        void                            getVelocity( Vector3D* vec );

                        void                            getAcceleration( Vector3D* vec );

                        void                            setForce( Vector3D force );

                        void                            getForce( Vector3D* force );

                        void                            addForce( Vector3D force );

                        void                            initLevel( Level2D* level );

                        void                            update( Level2D* level );

                        void                            endLevel();

                        bool                            buttonPressed( HapticsButton button );

                        bool                            buttonPressed();

                        ~Haptics();

                        friend HDLServoOpExitCode HapticsServoOp( void *data );

                        static const int        BUTTON_MIDDLE = 1;
                        static const int        BUTTON_LEFT = 2;
                        static const int        BUTTON_FRONT = 4;
                        static const int        BUTTON_RIGHT = 8;

                        float                           BOUNDARIES_MULTIPLIER;
                        float                           WALL_MULTIPLIER;

                        bool                            active;

                        WallMaterial            wallMaterial;

                private:

                        void                            setWall( Vector3D position, double yRotation = 0 );

                        void                            deleteWall();

                        void                            addForceForBoundariesTo( Vector3D* force );

                        void                            addForceForWallTo( Vector3D* force );

                        void                            addForceForWalkTo( Vector3D* force );

                        void                            addForceForPortalTo( Vector3D* force );

                        double                          scaleFactor;
                        Vector2D*                       transformationVector;

                        Vector3D                        position;
                        Vector3D                        oldPosition;
                        Vector3D                        velocity;
                        Vector3D                        oldVelocity;
                        Vector3D                        acceleration;

                        Vector2D                        playerPosition;

                        bool                            playerReachedPortal;

                        float                           portalForce;
                        float                           portalForceIncrement;
                        long                            portalTimer;

                        Vector2D                        wallForce;
                        Vector3D                        wallPosition;
                        Vector2D                        wallCollisionNormal;
                        double                          wallYRotation;
                        double                          wallSlideDistance;
                        Vector2D                        wallSlideStartPosition;
                        bool                            wallExists;
                        long                            wallCollisionTimeout;
                        long                            wallCollisionTimeoutMax;

                        long                            walkForceTimer;
                        long                            walkForceCycle;
                        long                            walkForceCycleDuration;
                        long                            walkForceAmplitude;
                        bool                            walkForceActive;
                        bool                            walkForceEnabled;

                        Vector3D                        force;
                        Vector3D                        savedForce;

                        int                                     servoResolution;
                        int                                     servoCount;
                        long                            servoTimer;

                        HDLDeviceHandle         hHandle;
                        HDLOpHandle                     servoOp;

                        int                                     buttonsState;

                        double                          forceBoundaries[ 6 ];
                        double                          workspace[ 6 ];
                        double                          gamespace[ 6 ];
                        double                          transmatrix[ 16 ];
        };

        HDLServoOpExitCode      HapticsServoOp( void *data );

}

#endif

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