Node.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DART_DYNAMICS_NODE_HPP_
#define DART_DYNAMICS_NODE_HPP_

#include <memory>

#include "dart/common/Cloneable.hpp"
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/VersionCounter.hpp"

#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace dynamics {

class BodyNode;
class Node;

//==============================================================================
class NodeDestructor final
{
public:
  NodeDestructor(Node* _node);

  NodeDestructor(const NodeDestructor& _other) = delete;

  ~NodeDestructor();

  Node* getNode() const;

private:
  Node* mNode;
};

//==============================================================================
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Node : public virtual common::Subject,
             public virtual common::VersionCounter
{
public:
  friend class BodyNode;
  friend class Skeleton;
  template <class>
  friend class AccessoryNode;
  template <class, class>
  friend class TemplateNodePtr;
  template <class, class>
  friend class TemplateWeakNodePtr;

  class State : public common::Cloneable<State>
  {
  };

  template <class Mixin>
  using MakeState = common::MakeCloneable<State, Mixin>;

  class Properties : public common::Cloneable<Properties>
  {
  };

  template <class Mixin>
  using MakeProperties = common::MakeCloneable<Properties, Mixin>;

  virtual ~Node() = default;

  virtual const std::string& setName(const std::string& newName) = 0;

  virtual const std::string& getName() const = 0;

  virtual void setNodeState(const State& otherState);

  virtual std::unique_ptr<State> getNodeState() const;

  virtual void copyNodeStateTo(std::unique_ptr<State>& outputState) const;

  virtual void setNodeProperties(const Properties& properties);

  virtual std::unique_ptr<Properties> getNodeProperties() const;

  virtual void copyNodePropertiesTo(
      std::unique_ptr<Properties>& outputProperties) const;

  BodyNodePtr getBodyNodePtr();

  ConstBodyNodePtr getBodyNodePtr() const;

  bool isRemoved() const;

  virtual std::shared_ptr<Skeleton> getSkeleton();

  virtual std::shared_ptr<const Skeleton> getSkeleton() const;

private:
  std::shared_ptr<NodeDestructor> getOrCreateDestructor();

protected:
  virtual Node* cloneNode(BodyNode* bn) const = 0;

  Node(BodyNode* _bn);

  std::string registerNameChange(const std::string& newName);

  void attach();

  void stageForRemoval();

  std::weak_ptr<NodeDestructor> mDestructor;

  BodyNode* mBodyNode;

  bool mAmAttached;

  std::size_t mIndexInBodyNode;

  std::size_t mIndexInSkeleton;

  std::size_t mIndexInTree;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

//==============================================================================
template <class NodeType>
class AccessoryNode
{
public:
  virtual ~AccessoryNode() = default;

  std::size_t getIndexInBodyNode() const;

  std::size_t getIndexInSkeleton() const;

  std::size_t getIndexInTree() const;

  std::size_t getTreeIndex() const;

  void remove();

  void reattach();

protected:
  AccessoryNode() = default;
};

} // namespace dynamics
} // namespace dart

#include "dart/dynamics/detail/Node.hpp"

#endif // DART_DYNAMICS_NODE_HPP_