Simulation.h

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#ifndef SIMULATION_H
#define SIMULATION_H

#include <vector>
#include <list>

#include "Workspace.h"
#include "Roadmap.h"
#include "robot.h"
#include "config.h"
#include "entity.h"
#include "camera.h"
#include "io.h"
#include "gui.h"
#include "point.h"
#include "Arbitrator.h"
#include "ui.h"

class Simulation{
 public:
  typedef enum{
        SIMULATION_STOPPED,
        SIMULATION_RUNNING
  } State;

  Simulation(const ConStruct& init);
  ~Simulation();

  void TimeSlice(const double ms);

  void Render(const IO_Window *win);
  void Update (IO_Window *win);

  void OnPress (IO_Window *win, const IO_Key &k);
  void OnRelease (IO_Window *win, const IO_Key &k);

  
  const Roadmap* getRoadmap(const int i) const;

  //the Simulation's camera determines the POV of the main window
  //therefore, in order to incorporate views from the 3rd person/robot
  //these functions are provided to switch the camera
  void SetCamera(const Camera* cam);
  const Camera* GetCamera() const;

private:
  Workspace *workspace;   

  const Camera *camera;

  GUI gui;

  Vector background_color;

  std::vector<Roadmap*> roadmaps;

  UI ui;

  enum { UI_IDLE = 0, UI_REMOVE, UI_START, UI_GOAL } ui_state;

  State state;

  std::vector<Arbitrator*> arbitrators;

  class SimulationFactory {
  public:
    SimulationFactory(Simulation* sim);

    virtual Arbitrator* BuildArbitrator(const ConStruct& ArbitratorStruct);

    virtual Workspace*  BuildWorkspace(const ConStruct& WorkspaceStruct);
    virtual Roadmap*    BuildRoadmap(const ConStruct&   RoadmapStruct);
  private:
    Simulation* sim;
  };
public:
  /* settings */

  bool wireframe;

  bool show_fps;

  friend class SimulationFactory;
};

#endif

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