Program Listing for File sim_block3D.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/math/vector2.hpp"
#include "rcppsw/math/vector3.hpp"

#include "cosm/repr/base_block3D.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::repr {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class sim_block3D : public rer::client<sim_block3D>, public crepr::base_block3D {
 public:
  sim_block3D(const rtypes::type_uuid& id,
              const rmath::vector3d& dim,
              const rtypes::discretize_ratio& arena_res,
              const rutils::color& color,
              const crepr::block_type& type)
      : ER_CLIENT_INIT("cosm.repr.sim_block3D"),
        base_block3D(id, dim, arena_res, color, type) {}

  ~sim_block3D(void) override = default;

  bool is_out_of_sight(void) const {
    return kOutOfSight.dpos == unicell_movable_entity3D::danchor3D() ||
           kOutOfSight.rpos == unicell_movable_entity3D::ranchor3D();
  }
  void move_out_of_sight(void) {
    unicell_movable_entity3D::ranchor3D(kOutOfSight.rpos);
    unicell_movable_entity3D::danchor3D(kOutOfSight.dpos);
  }

 protected:
  void update_on_pickup(const rtypes::type_uuid& robot_id,
                        const rtypes::timestep& t,
                        const crops::block_pickup_owner& owner) override {
    switch (owner) {
      case crops::block_pickup_owner::ekARENA_MAP:
        move_out_of_sight();
        md()->robot_id(robot_id); /* needed to mark block as "in-use" */
        break;
      case crops::block_pickup_owner::ekROBOT:
        md()->robot_pickup_event(robot_id);
        md()->first_pickup_time(t);
        break;
      default:
        ER_FATAL_SENTINEL("Unhandled pickup owner %d",
                          rcppsw::as_underlying(owner));
        break;
    } /* switch() */
  }

 private:
  struct out_of_sight3D {
    rmath::vector3d rpos{ 1000.0, 1000.0, 0.0 };
    rmath::vector3z dpos{ 1000, 1000, 0 };
  };

  static const out_of_sight3D kOutOfSight;
};

} /* namespace cosm::repr */