car.h

#ifndef CAR
#define CAR
#include <deque>
#include <GL/glut.h>
#include <SDL/SDL.h>
#include <SDL/SDL_mixer.h>
#include <cstdio>
//#define _USE_MATH_DEFINES
//#include <cmath>

#include "environment.h"
#include "Object.h"
#include <pthread.h>
#include <iostream>
//#define CARLENGTH 3.0
//#define CARWIDTH 1.6


class Car: public Object {
	public:
		Car():Object(), timeStop(0), isHorn(false){
			pthread_mutex_init(&mutex_path, NULL);
			carLength = CARLENGTH;
			carWidth = CARWIDTH;
			existVeryDangerous = false;
			if (SOUND_ENABLED) SDL_init_load();
		}

		Car(dd l, dd w):Object(),timeStop(0), isHorn(false){
			pthread_mutex_init(&mutex_path, NULL);
			carLength = l;
			carWidth = w;
			existVeryDangerous = false;
			if (SOUND_ENABLED) SDL_init_load();
		};

		Car(State astate, dd l, dd w):Object(astate), timeStop(0), isHorn(false){
			pthread_mutex_init(&mutex_path, NULL);
			carLength = l;
			carWidth = w;
			existVeryDangerous = false;
			if (SOUND_ENABLED) SDL_init_load();
		};

		Car(State astate):Object(astate), timeStop(0), isHorn(false){
			pthread_mutex_init(&mutex_path, NULL);
			carLength = CARLENGTH;
			carWidth = CARWIDTH;
			existVeryDangerous = false;
			if (SOUND_ENABLED) SDL_init_load();
		};

		Car(dd ax, dd ay, dd av, dd atheta, dd l, dd w):Object(ax,ay,av,atheta), timeStop(0), isHorn(false){
			pthread_mutex_init(&mutex_path, NULL);
			carLength = l;
			carWidth = w;
			existVeryDangerous = false;
			if (SOUND_ENABLED) SDL_init_load();
		};

		void update_state(dd time_step){
			if (HORN_ENABLED)
			{
				if (state.v < 1e-5 && state.v > -1e-5)
				{
					timeStop++;
					if (timeStop > WAIT_TO_HORN)
					{
						if (existVeryDangerous)
						{
							isHorn = true;
							if (SOUND_ENABLED && Mix_PlayChannel(-1, horn_sound, 0) ==-1) 
							{
								printf("Failed to play car horn sound\n");
								exit(0);
							}
							timeStop -= HORN_INTERVAL;
						}
						else
						{
							state.v = 0.1;
						}
					}
				}
				else
				{
					timeStop = 0;
					isHorn = false;
				}
			}
			state.x += getXDot()*time_step;
			state.y += getYDot()*time_step;
			if (state.y >= Y_MAX) state.y -= Y_MAX;
		}

		void control(){
			Control curControl;
			if (!path.empty()) {
				pthread_mutex_lock (&mutex_path);
				curControl = path.front();
				path.pop_front();
				pthread_mutex_unlock (&mutex_path);
			}
			else {
				curControl.h1 = 0.0;
				curControl.h2 = 0.0;
			}

			state.v += curControl.h1;
			if ((state.v > 1e-6) && (curControl.h2 > 1e-8 || curControl.h2 < -1e-8) )
				state.theta += state.v*tan(curControl.h2)/carLength;
			else state.theta = state.theta;

			if (state.v < 0) state.v = 0;
		}

		bool SDL_init_load()
		{
			if (SDL_Init( SDL_INIT_EVERYTHING ) == -1) return false;
			if (Mix_OpenAudio(22050, MIX_DEFAULT_FORMAT, 2, 4096) == -1) return false;
			horn_sound = Mix_LoadWAV("car_horn.wav");
			if (horn_sound == NULL) return false;
			
			return true;
		}

		bool SDL_cleanup()
		{
			Mix_FreeChunk( horn_sound );
			Mix_CloseAudio();
			SDL_Quit();
		}

		void control(dd h1, dd h2){
			state.v += h1;
			state.theta += state.v*tan(h2)/carLength/10;
		}

		dd getLength(){
			return carLength;
		}

		dd getWidth(){
			return carWidth;
		}

		std::deque <Control>*  getPath()
		{
			return &path;
		}

		bool getHorn()
		{
			return isHorn;
		}

		bool setHornOff()
		{
			isHorn = false;
		}

		void setPath(std::deque <Control> &apath)
		{
			pthread_mutex_lock (&mutex_path);
			path = apath;
			pthread_mutex_unlock (&mutex_path);
		}

		void setExistVeryDangerous(bool a)
		{
			existVeryDangerous = a;
		}

		void draw()
		{
			glColor3f(0.0,0.75,1.0);
			glPushMatrix();
			glTranslatef(state.x,state.y,0);
			glRotatef(state.theta*180.0/M_PI,0,0,1);
			glBegin(GL_QUADS);
			double hlength = carLength/2-0.1;
			double hwidth = carWidth/2-0.1;
			glVertex2f(-hlength,-hwidth);
			glVertex2f( hlength,-hwidth);
			glVertex2f( hlength, hwidth);
			glVertex2f(-hlength, hwidth);
			glEnd();
			glPopMatrix();
		}

	public:
		pthread_mutex_t mutex_path;

	private:
		dd carLength;
		dd carWidth;
		unsigned int timeStop;
		bool isHorn;
		bool existVeryDangerous;
		std::deque <Control> path;
		Mix_Chunk *horn_sound;
		

};

#endif