articulatedPartCollection.h

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


#ifndef articulatedPartCollection_H_
#define articulatedPartCollection_H_

#include <vlutil/vlMachineTypes.h>

#include <map>
#include <set>
#include <vector>
#include <ostream>

class DtArticulatedPart;
class DtClock;

class DT_DLL_VLPROTIND DtArticulatedPartCollection
{
public:

   typedef std::map<unsigned int,DtArticulatedPart*> PartMap;
   typedef PartMap::const_iterator const_iterator;
   typedef std::set<unsigned int> PartTypeSet;

   DtArticulatedPartCollection(DtClock* clock = 0);

   DtArticulatedPartCollection(const DtArticulatedPartCollection&);

   DtArticulatedPartCollection& operator=(const DtArticulatedPartCollection&);   

   virtual ~DtArticulatedPartCollection();

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

   virtual void getPartTypes(PartTypeSet& aSet); 

   virtual DtArticulatedPart& getPart(unsigned int partType);






   virtual DtArticulatedPart* findPart(unsigned int partType);
   virtual const DtArticulatedPart* findPart(unsigned int partType) const;

   virtual void removeAllParts();

   virtual void removePart(unsigned int partType);   

   virtual void attachPart(DtArticulatedPart* childPart, DtArticulatedPart* parentPart);
   
   inline void attachPart(unsigned int childPartType, unsigned int parentPartType);

   virtual unsigned int totalParameterCount() const;

   virtual unsigned int partCount() const;

   virtual DtArticulatedPart* createPart(DtArticulatedPart* copy = 0) const;

   const_iterator begin() const;

   const_iterator end() const;

   virtual void setClock(DtClock* clock, bool setForAllParts = true);


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

   bool partsApproximateByDefault() const;

   void setPartsApproximateByDefault(bool deadReckonByDefault);

   void printDataToStream(std::ostream& stream) const;

   const std::vector<DtArticulatedPart*>& getSortedList() const;

protected:

   virtual void sortArtParts() const;  

   int calculatePartDistance(DtArticulatedPart* part) const;

protected:

   PartMap myPartMap;
   DtClock* myClock;
   bool myDefaultApproximatingFlag;
   mutable std::vector<DtArticulatedPart*> mySortedList;
   mutable bool myNeedsSortingFlag;
};

inline void DtArticulatedPartCollection::attachPart(
   unsigned int childPartType, unsigned int parentPartType)
{
   attachPart(findPart(childPartType),findPart(parentPartType));
}


#endif