SpecializedNodeManager.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_SPECIALIZEDNODEMANAGER_HPP_
#define DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_

#include "dart/common/Virtual.hpp"
#include "dart/dynamics/NodeManagerJoiner.hpp"
#include "dart/dynamics/detail/BasicNodeManager.hpp"

namespace dart {
namespace dynamics {

class BodyNode;
class Skeleton;

//==============================================================================
template <class... OtherSpecNodes>
class BodyNodeSpecializedFor
{
};

//==============================================================================
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
template <class SpecNode>
class BodyNodeSpecializedFor<SpecNode>
  : public virtual detail::BasicNodeManagerForBodyNode
{
public:
  BodyNodeSpecializedFor();

  template <class NodeType>
  std::size_t getNumNodes() const;

  template <class NodeType>
  NodeType* getNode(std::size_t index);

  template <class NodeType>
  const NodeType* getNode(std::size_t index) const;

  template <class NodeType>
  static constexpr bool isSpecializedForNode();

protected:
  template <class NodeType>
  std::size_t _getNumNodes(type<NodeType>) const;

  std::size_t _getNumNodes(type<SpecNode>) const;

  template <class NodeType>
  NodeType* _getNode(type<NodeType>, std::size_t index);

  SpecNode* _getNode(type<SpecNode>, std::size_t index);

  template <class NodeType>
  static constexpr bool _isSpecializedForNode(type<NodeType>);

  static constexpr bool _isSpecializedForNode(type<SpecNode>);

  BasicNodeManagerForBodyNode::NodeMap::iterator mSpecNodeIterator;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

//==============================================================================
template <class SpecNode1, class... OtherSpecNodes>
class BodyNodeSpecializedFor<SpecNode1, OtherSpecNodes...>
  : public NodeManagerJoinerForBodyNode<
        common::Virtual<BodyNodeSpecializedFor<SpecNode1> >,
        common::Virtual<BodyNodeSpecializedFor<OtherSpecNodes...> > >
{
};

//==============================================================================
template <class... OtherSpecNodes>
class SkeletonSpecializedFor
{
};

//==============================================================================
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
template <class SpecNode>
class SkeletonSpecializedFor<SpecNode>
  : public virtual detail::BasicNodeManagerForSkeleton,
    public virtual BodyNodeSpecializedFor<SpecNode>
{
public:
  using BodyNodeSpecializedFor<SpecNode>::getNode;
  using BodyNodeSpecializedFor<SpecNode>::getNumNodes;
  using BodyNodeSpecializedFor<SpecNode>::isSpecializedForNode;

  SkeletonSpecializedFor();

  template <class NodeType>
  std::size_t getNumNodes(std::size_t treeIndex) const;

  template <class NodeType>
  NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex);

  template <class NodeType>
  const NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex) const;

  template <class NodeType>
  NodeType* getNode(const std::string& name);

  template <class NodeType>
  const NodeType* getNode(const std::string& name) const;

  template <class T>
  static constexpr bool isSpecializedForNode();

protected:
  template <class NodeType>
  std::size_t _getNumNodes(type<NodeType>, std::size_t treeIndex) const;

  std::size_t _getNumNodes(type<SpecNode>, std::size_t treeIndex) const;

  template <class NodeType>
  NodeType* _getNode(
      type<NodeType>, std::size_t treeIndex, std::size_t nodeIndex);

  SpecNode* _getNode(
      type<SpecNode>, std::size_t treeIndex, std::size_t nodeIndex);

  template <class NodeType>
  NodeType* _getNode(type<NodeType>, const std::string& name);

  SpecNode* _getNode(type<SpecNode>, const std::string& name);

  template <class T>
  static constexpr bool _isSpecializedForNode(type<T>);

  static constexpr bool _isSpecializedForNode(type<SpecNode>);

  std::vector<BasicNodeManagerForBodyNode::NodeMap::iterator>
      mTreeSpecNodeIterators;

  NodeNameMgrMap::iterator mSpecNodeNameMgrIterator;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

//==============================================================================
template <class SpecNode1, class... OtherSpecNodes>
class SkeletonSpecializedFor<SpecNode1, OtherSpecNodes...>
  : public NodeManagerJoinerForSkeleton<
        common::Virtual<SkeletonSpecializedFor<SpecNode1> >,
        common::Virtual<SkeletonSpecializedFor<OtherSpecNodes...> > >
{
};

} // namespace dynamics
} // namespace dart

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

#endif // DART_DYNAMICS_SPECIALIZEDNODEMANAGER_HPP_