#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include "actuator.hh"
#include "vehicle.hh"
#include "view.hh"
#include "world.hh"

Actuator::Actuator(const Point &delta, double strength)
  : _delta(delta), _rotation(0), _strength(strength)
{
  _unit_torque = sin(_delta.angle() - _rotation) * _delta.magnitude();
}

void
Actuator::draw(Vehicle *vehicle, View *view)
{
  double angle = vehicle->rotation();
  Point sensor_pos = vehicle->position() + _delta.rotated(angle);
  
  Point broad_edge = Point(0, 5).rotated(_rotation + angle);
  Point long_edge = Point(8, 0).rotated(_rotation + angle);
  Point corner[4];
  
  corner[0] = sensor_pos;
  corner[0].x -= (long_edge.x + broad_edge.x) / 2;
  corner[0].y -= (long_edge.y + broad_edge.y) / 2;
  
  corner[1] = corner[0] + long_edge;
  corner[2] = corner[0] + long_edge + broad_edge;
  corner[3] = corner[0] + broad_edge;
  
  view->fill_poly(vehicle->sensor_gc(), 4, corner);
}