hooman.h

#ifndef __HOOMAN_H__
#define __HOOMAN_H__

#include <Box2D.h>
#include <cairo.h>


#include <iostream>
#include <vector>
#include <map>

class Hooman  {
private:
  // Ragdoll model from http://rednuht.org/genetic_walkers/
  
  static constexpr double TORSO_UPPER_WIDTH = 0.25;
  static constexpr double TORSO_UPPER_HEIGHT = 0.45 ;
  static constexpr double TORSO_LOWER_WIDTH = 0.25 ;
  static constexpr double TORSO_LOWER_HEIGHT = 0.2 ;

  static constexpr double FEMUR_WIDTH = 0.18 ;
  static constexpr double FEMUR_LENGTH = 0.45 ;
  static constexpr double TIBIA_WIDTH = 0.13 ;
  static constexpr double TIBIA_LENGTH = 0.38 ;
  static constexpr double FOOT_HEIGHT = 0.08 ;
  static constexpr double FOOT_LENGTH = 0.28 ;

  static constexpr double ARM_WIDTH = 0.12 ;
  static constexpr double ARM_LENGTH = 0.37 ;
  static constexpr double FOREARM_WIDTH = 0.1 ;
  static constexpr double FOREARM_LENGTH = 0.42 ;

  static constexpr double HEAD_WIDTH = 0.22 ;
  static constexpr double HEAD_HEIGHT = 0.22 ;
  static constexpr double NECK_WIDTH = 0.1 ;
  static constexpr double NECK_HEIGHT = 0.08 ;

  b2Body* head ;
  b2Body* neck ;
  b2Body* upper_torso ;
  b2Body* lower_torso ;
  b2Body* left_arm_upper ;
  b2Body* left_arm_lower ;
  b2Body* right_arm_upper ;
  b2Body* right_arm_lower ;
  b2Body* left_leg_upper ;
  b2Body* left_leg_lower ;
  b2Body* left_leg_foot ;
  b2Body* right_leg_upper ;
  b2Body* right_leg_lower ;
  b2Body* right_leg_foot ;


  std::map<const b2Body*, b2Vec2> sizes ; 
  std::vector<b2RevoluteJoint*> joints ;
  std::vector<b2Body*> bodies ;

  double rr, gg, bb ;
  
protected:
  b2World& world ;

  b2Body* createBoxElement(const b2Vec2& size,
			   const b2Vec2& position) ;

  b2Joint* createRevoluteJoint(b2Body* bodyA,
			       b2Body* bodyB,
			       const b2Vec2& deltaPosition,
			       double minAngle = 0,
			       double maxAngle = 6.28318530718,
			       bool enableMotor=false,
			       double maxMotorTorque=0) ;

  b2Joint* createWeldJoint(b2Body* bodyA,
			   b2Body* bodyB,
			   const b2Vec2& anchorA,
			   const b2Vec2& anchorB,
			   double referenceAngle=0) ;

public:
  Hooman(b2World& world) ;
  ~Hooman() ;

  bool isAlive() const {
    return (head->GetPosition()(1) > lower_torso->GetPosition()(1)) ;
  }

  size_t variableCount() const {
    return joints.size() ;
  }

  void setVariable(size_t i, double d) {
    joints[i]->SetMotorSpeed(d) ;
  }

  double getX() const {
    b2Vec2 pos(0,0) ;
    size_t i ;

    for (i=0 ; i < bodies.size() ; i++) {
      pos += bodies[i]->GetPosition() ;
    }
    
    return pos(0)/i ;
  }
  
  void render_to_cairo(cairo_t* cr) ;
  
} ;

#endif /* __HOOMAN_H__ */