articulatedPartStateComponent.h

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/*******************************************************************************
** Copyright (c) 2020 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfStateData/stateComponent.h"
#include "vrfStateData/doubleBufferedDataStorage.h"
#include "vrfStateData/articulatedPartManager.h"
#include <vlpi/articulatedPartCollection.h>

class DtSimArtPartDescriptor;

namespace makVrf
{
   struct DT_DLL_vrfStateData DtArticulatedPartStateComponentData
   {
      DtArticulatedPartStateComponentData()
      {
      }

      void create()
      {
         myarticulatedPartManager = std::shared_ptr<DtArticulatedPartManager>(new DtArticulatedPartManager);
         myartPartList = std::shared_ptr<DtArticulatedPartCollection>(new DtArticulatedPartCollection);
      }

      DtArticulatedPartStateComponentData(const DtArticulatedPartStateComponentData& orig)
      : myarticulatedPartManager(orig.myarticulatedPartManager)
      , myartPartList(orig.myartPartList)
      {
      }

      DtArticulatedPartStateComponentData& operator=(const DtArticulatedPartStateComponentData& rhs)
      {
         myarticulatedPartManager = rhs.myarticulatedPartManager;
         myartPartList = rhs.myartPartList;

         return *this;
      }

      bool initialized() const { return (myarticulatedPartManager.get() != 0); };
      const DtArticulatedPartManager& articulatedPartManager() const { return *(myarticulatedPartManager.get()); };
      DtArticulatedPartManager& articulatedPartManager(){ return *(myarticulatedPartManager.get()); };

      const DtArticulatedPartCollection& artPartList() const { return *(myartPartList.get()); };
      DtArticulatedPartCollection& artPartList() { return *(myartPartList.get()); };

   protected:
      std::shared_ptr<DtArticulatedPartManager> myarticulatedPartManager;
      std::shared_ptr<DtArticulatedPartCollection> myartPartList;
   };


   class DT_DLL_vrfStateData DtArticulatedPartStateComponent : public DtFrameStateInterface
   {
   public:
      DEFINE_STATE_COMPONENT_TYPE(DtStateComponent::ArticulatedPartStateComponent)

      DtArticulatedPartStateComponent(DtStateData* storage)
      : DtFrameStateInterface(storage)
      {
      }

      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartManager, articulatedPartManager)
      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartManager, articulatedParts)
      UNDEFINED_RETURNREF_ACCESSORS(DtArticulatedPartCollection, artPartList)
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentNextFrame : public DtArticulatedPartStateComponent
   {
   public:
      DtArticulatedPartStateComponentNextFrame(DtStateData*);

      const DtArticulatedPartStateComponentData& frameState() const { return myData; };
      DtArticulatedPartStateComponentData& frameState() { return myData; };

      const DtArticulatedPartManager& articulatedPartManager() const;
      DtArticulatedPartManager& articulatedPartManager();

      const DtArticulatedPartManager& articulatedParts() const;
      DtArticulatedPartManager& articulatedParts();

      const DtArticulatedPartCollection& artPartList() const;
      DtArticulatedPartCollection& artPartList();

      void setCoordinateSystem(const Coordinate_System*);

      virtual void makeWritable() {};

      virtual void makeReadOnly() {};

      void setPublishOnLegionNetwork(bool b);

   protected:
      DtStateData* myStateData;
      DtArticulatedPartStateComponentData myData;
      bool myPublishOnLegionNetwork;
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentCurrentFrame : public DtArticulatedPartStateComponent
   {
   public:
      DtArticulatedPartStateComponentCurrentFrame(DtStateData* storage);

      const DtArticulatedPartStateComponentData& frameState() const { return myData; };

      const DtArticulatedPartManager& articulatedPartManager() const;
      const DtArticulatedPartManager& articulatedParts() const;
      const DtArticulatedPartCollection& artPartList() const;

      void setUpdateFromLegionNetwork(bool);

   protected:
      friend class DtArticulatedPartStateComponentImplementation;
      void advanceFrame(const DtArticulatedPartStateComponentData& data)
      {
         myData = data;
      }

   protected:
      DtArticulatedPartStateComponentData myData;
      bool myUpdateFromLegionNetwork;
   };

   class DT_DLL_vrfStateData DtArticulatedPartStateComponentImplementation : public DtDoubleBufferedStateComponent<DtArticulatedPartStateComponent>
   {
   public:
      DtArticulatedPartStateComponentImplementation(DtStateData* sd);

      bool isDoubleBuffered() { return true; };
      const DtFrameStateInterface* currentFrameState() const { return &myCurrentFrameState; }
      virtual DtFrameStateInterface* nextFrameState() { return &myNextFrameState; };
      virtual const DtFrameStateInterface* nextFrameState() const { return &myNextFrameState; };

      virtual void setCoordinateSystem(const Coordinate_System*);

      virtual void updateDataStorage() override;

      void updateStateData(DtStateData* sd)
      {
         myCurrentFrameState.updateStateData(sd);
         myNextFrameState.updateStateData(sd);
      }

      virtual void setPublishingOnLegionNetwork(bool b) override;

      virtual void initializeFromParameters(const DtVrfObjectParameters* params);

      virtual void aboutToBeDeleted() override
      {
         DtDoubleBufferedStateComponent<DtArticulatedPartStateComponent>::aboutToBeDeleted();
         myCurrentFrameState.aboutToBeDeleted();
         myNextFrameState.aboutToBeDeleted();
      }

   protected:
      virtual void createPartsFromDescriptors(const std::list<DtSimArtPartDescriptor*>& descriptors,
         const std::list<DtSimArtPartDescriptor*>& partDefaultsFromActuators);

   protected:
      DtArticulatedPartStateComponentCurrentFrame myCurrentFrameState;
      DtArticulatedPartStateComponentNextFrame myNextFrameState;
   };

   typedef DtStateComponentCreator<DtArticulatedPartStateComponentImplementation> DtArticulatedPartStateComponentCreator;
}