/*
 *  Simbad - Robot Simulator
 *  Copyright (C) 2004 Louis Hugues
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful, 
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 -----------------------------------------------------------------------------
 * 07/02/2005 - now use Box Primitive instead of QuadArray
 * $Author: sioulseuguh $ 
 * $Date: 2005/04/25 17:54:58 $
 * $Revision: 1.7 $
 * $Source: /cvsroot/simbad/src/simbad/sim/Box.java,v $
 */
package org.myrobotlab.mapper.sim;

import javax.media.j3d.BoundingBox;
import javax.media.j3d.Material;
import javax.vecmath.Color3f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import com.sun.j3d.utils.geometry.Primitive;

/**
 * A box object which can be put in the environment.
 * 
 * @author Louis Hugues
 */
public class Box extends BlockWorldObject {

  /** Object dimension.s */
  float sx, sy, sz;

  /**
   * Constructs a box object.
   * 
   * @param pos
   *          position of the center of the object.
   * @param extent
   *          - extent in the three directions.
   * @param wd
   *          EnvironmentDescription for global parameters.
   */
  public Box(Vector3d pos, Vector3f extent, EnvironmentDescription wd) {
    this(pos, extent, wd, wd.boxColor);
  }

  /**
   * Constructs a box object.
   * 
   * @param pos
   *          position of the center of the object.
   * @param extent
   *          - extent in the three directions.
   * @param wd
   *          EnvironmentDescription for global parameters.
   * @param color
   *          color of the object.
   */
  public Box(Vector3d pos, Vector3f extent, EnvironmentDescription wd, Color3f color) {
    this.sx = extent.x;
    this.sy = extent.y;
    this.sz = extent.z;
    // put it on the floor
    pos.y += sy / 2;
    create3D(wd, color);
    translateTo(pos);
  }

  /** Create the 3d object */
  protected void create3D(EnvironmentDescription wd, Color3f color) {
    // create the box using a primitive
    super.create3D();
    Material mat = new Material();
    appearance.setMaterial(mat);

    int flags = Primitive.GEOMETRY_NOT_SHARED | Primitive.ENABLE_GEOMETRY_PICKING | Primitive.GENERATE_NORMALS;
    flags |= Primitive.ENABLE_APPEARANCE_MODIFY;
    // com.sun.j3d.utils.geometry.Box box =new
    // com.sun.j3d.utils.geometry.Box(sx,sy,sz,flags,appearance,0);
    // bug in j3d api doc . must give half values.
    com.sun.j3d.utils.geometry.Box box = new com.sun.j3d.utils.geometry.Box(sx / 2, sy / 2, sz / 2, flags, appearance, 0);
    // Enable sensor detection
    box.setPickable(true);

    // define the boundsfFor collision detection
    BoundingBox bounds = new BoundingBox();
    bounds.setUpper(sx / 2, sy / 2, sz / 2);
    bounds.setLower(-sx / 2, -sy / 2, -sz / 2);
    setBounds(bounds);

    setColor(color);
    addChild(box);

  }

}