random_racer/src/Nurbs.h

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#ifndef _RR_NURBS_H_
#define _RR_NURBS_H_

#include <vector>
#include <vrs/sharedobj.h>
#include <vrs/vector.h>


namespace random_racer
{

class Nurbs : public VRS::SharedObj
{
public:
    Nurbs(unsigned int dimension, float spacing, unsigned int bufferZone=1);

    virtual ~Nurbs();

    void clear();

    void evaluate(unsigned int levelOfDetail, std::vector<VRS::Vector>* target);

    template <class T>
    void fill(T pointIteratorBegin, T pointIteratorEnd, 
              double offsetX, double offsetY);

    inline void setCorrection(float correctX, float correctY)
    {
        m_correctX = correctX;
        m_correctY = correctY;
    }

    struct Point
    {
        float x;
        float y;
        float z;  
    };

private:   
    unsigned int    m_dimension, m_bufferZone;
    float           m_spacing, m_correctX, m_correctY;
    float*          m_controlPoints;

    unsigned int m_degree;
    unsigned int m_order;
    unsigned int m_numCvs;

    unsigned int m_numKnots;
    float* m_knots;

    // uses the evaluate method
    Point* m_tempPoints;

    void fillKnotsVector(unsigned int order, unsigned int numPoints, 
                         float* knots);
                   
    float coxDeBoor(float u, int i, int k, const float* knots);

    Point calculateU(float t, int row);

    Point calculateV(float t, Point* pnts);

    Point calculate(float u, float v, Point* tempPoints);

    float min();
    float max();
    
    inline unsigned int mapsArrayIndex( int row, int column )
    {
        return ( (row + m_bufferZone) * (m_dimension + (2 * m_bufferZone) ) ) + 
                        (column + m_bufferZone);       
    }
    
    // Maps the index of a two Dim. Array to an one Dim. Array.
    inline unsigned int mapsIndex( unsigned int row, unsigned int column )
    {
        return (row * (m_dimension + 2*m_bufferZone)) + column;
    }
    
};

} // namespace random_racer

#include "Nurbs.tcc"

#endif // _RR_NURBS_H_

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