//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// Polygon.h: interface for the CPolygon class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(POLYGON_H)
#define POLYGON_H

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Afxtempl.h"


class CPolygon : public CObject  
{
public:
    DECLARE_SERIAL(CPolygon)

	CPolygon();
	CPolygon(CArray<CPoint, CPoint> *points);
	CPolygon(CPolygon *polygon);
	CPolygon(CRect rect);
	virtual ~CPolygon();
	
	void Serialize(CArchive& ar);
	void Draw(CDC* pDC);

	void Redraw(CPoint p, CClientDC *dc);
	void Recompute(double x, double y, double theta);
	
	void SetPointsCenterFrame();
	short IntersectCircle(CPoint robot, double radius, CPoint &intersect1, CPoint &intersect2);
	void ShortDistance(double x, double y, double &minDist, double &minAngle);
	BOOL FinishPointInsertion();

	void AddPoint(CPoint p);
	CPoint GetPoint(int i);
	void RemoveAllPoints();
	void ComputeCenter();

	CPoint m_intersect1;	// intersections between the polygon and a circle (computed by IntersectCircle)
	CPoint m_intersect2;
	CPoint m_center;		// polygon center
	CRect m_rect;			// polygon outside rectangle

private:
	CArray<CPoint, CPoint> m_points;			// vertices of the polygon in the global reference frame
	CArray<CPoint, CPoint> m_pointsCenterFrame; // vertices of the polygon in the polygon center frame

	BOOL IsSimple(BOOL lastSegment = FALSE);
	double Area();
};

#endif