articulatedPart.h

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/*********************************************************************
** Copyright (c) 1992-2010 VT MAK
** All rights reserved.
*********************************************************************/



#ifndef articulatedPart_H_
#define articulatedPart_H_

#include <vlutil/vlMachineTypes.h>
#include <vlutil/vlTime.h>

#include <matrix/vlTaitBryan.h>
#include <matrix/vlVector.h>

#include <vector>


class DtClock;

class DT_DLL_VLPROTIND DtArticulatedPart
{
public:
   struct Parameter
   {
      float value;
      unsigned char change;
      double time;   
   };

   enum ParameterMetrics
   {
      ParameterMetric_Position      = 1,  
      ParameterMetric_PositionRate  = 2,
      ParameterMetric_Extension     = 3,
      ParameterMetric_ExtensionRate = 4,
      ParameterMetric_X             = 5,
      ParameterMetric_XRate         = 6,
      ParameterMetric_Y             = 7,
      ParameterMetric_YRate         = 8,
      ParameterMetric_Z             = 9,
      ParameterMetric_ZRate         = 10,
      ParameterMetric_Azimuth       = 11,
      ParameterMetric_AzimuthRate   = 12,
      ParameterMetric_Elevation     = 13,
      ParameterMetric_ElevationRate = 14,
      ParameterMetric_Rotation      = 15,
      ParameterMetric_RotationRate  = 16
   };

   typedef unsigned char ParameterMetric;

   DtArticulatedPart(DtClock* clock = 0);

   DtArticulatedPart(const DtArticulatedPart& copy);

   DtArticulatedPart& operator=(const DtArticulatedPart& copy);

   virtual ~DtArticulatedPart();

   bool operator==(const DtArticulatedPart& other) const;
   bool operator!=(const DtArticulatedPart& other) const;

   virtual bool hasTheSameMetrics(const DtArticulatedPart& other) const;

   virtual unsigned int parameterCount() const;

   virtual int partTypeAttachedTo() const;

   virtual void setPartTypeAttachedTo(int attachedTo);

   virtual unsigned short attachedToPartIndex() const;
   
   virtual void setAttachedToPartIndex(unsigned int index);

   virtual unsigned int partType() const;
   
   virtual void setPartType(unsigned int artPartType);

   virtual void getParameterMetrics(std::vector<ParameterMetric>& metrics) const;

   virtual bool setParameter(ParameterMetric parameterMetric,const Parameter& parameter, 
      bool setOnlyValue = true);
   
   inline bool setParameter(ParameterMetric parameterMetric,float value)
   {
      Parameter parameter;
      parameter.value = value;
      return setParameter(parameterMetric,parameter);
   }

   virtual bool getParameter(ParameterMetric parameterMetric,Parameter& parameter) const;

   virtual float getParameterValue(ParameterMetric parameterMetric, double time) const;

   inline float getParameterValue(ParameterMetric parameterMetric) const
   {
      return getParameterValue(parameterMetric,clock() ? clock()->simTime() : 0.0);
   }

   virtual void unsetParameter(ParameterMetric parameterMetric);

   virtual void unsetAllParameters();

   virtual void incrementChange(ParameterMetric parameterMetric);

   virtual bool approximating() const;

   virtual void setApproximating(bool deadreckoning);

   virtual void setClock(DtClock* clock);


   DtClock* clock();
   const DtClock* clock() const;

   //@name Fast inline functions for validating metrics.

   inline bool isParameterSet(ParameterMetric parameterMetric) const;

   inline bool isParameterMetricValid(ParameterMetric parameterMetric) const;

   inline bool isParameterApproximated(ParameterMetric parameterMetric) const;

   inline unsigned int getParameterRateMetric(ParameterMetric parameterMetric) const;



   //@name Helper functions for getting/setting Translation,Orientation and rates.

   inline bool hasTranslation() const;

   inline DtVector translation() const;
   
   inline DtVector translation(double time) const;

   inline bool getTranslation(DtVector& vec) const;
   
   inline bool getTranslation(DtVector& vec, double time) const;

   inline void setTranslation(const DtVector& trans);

   inline bool hasTranslationRate() const;

   inline DtVector translationRate() const;

   inline bool getTranslationRate(DtVector& vec) const;

   inline void setTranslationRate(const DtVector& transRate);

   inline bool hasOrientation() const;

   inline DtTaitBryan orientation() const;

   inline DtTaitBryan orientation(double time) const;

   inline bool getOrientation(DtTaitBryan& ori) const;

   inline bool getOrientation(DtTaitBryan& ori, double time) const;

   inline void setOrientation(const DtTaitBryan& ori);

   inline bool hasOrientationRate() const;

   inline DtVector orientationRate() const;

   inline bool getOrientationRate(DtVector& oriRate) const;

   inline void setOrientationRate(const DtVector& oriRate);


   virtual void printDataToStream(std::ostream& str) const;

public:
   static inline unsigned int decodeArtPartType(unsigned int type);

   static inline unsigned char decodeArtPartParamMetric(unsigned int type);

   static inline unsigned int encodeArtPartParamType(unsigned int partType, unsigned char paramMetric);

   static bool approximatingEnabledFlag();
   static void setApproximatingEnabledFlag(bool enabled);

protected:

   // A 16bit integer id.
   int myPartTypeAttachedTo;
   unsigned short myAttachedToPartIndex;

   unsigned int myPartType;

   //A Mask of the first 32 parameters.  Most standards do not support more than 32.
   unsigned int myParameterMask;

   //A vector of parameters.
   std::vector<Parameter> myParameters;

   //A flag which controls whether to dead-reckon values.
   bool myApproximatingFlag;

   //An internal pointer to a shared clock used to automatically get the time.
   DtClock* myClock;

protected:

   //A flag which controls whether to dead-reckon value by default
   static bool theApproximatingEnabledFlag;
};

#define articulatedPart_inl_
#include "articulatedPart.inl"
#undef articulatedPart_inl_



#endif