Representation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PARTICLES_REPRESENTATION_H
#define SURGSIM_PARTICLES_REPRESENTATION_H

#include <memory>
#include <string>

#include "SurgSim/Collision/Representation.h"
#include "SurgSim/Framework/Representation.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Particles/Particles.h"


namespace SurgSim
{

namespace Framework
{
class Logger;
};

namespace Particles
{

class Representation : public SurgSim::Framework::Representation
{
public:
    explicit Representation(const std::string& name);

    virtual ~Representation();

    void setMaxParticles(size_t maxParticles);

    size_t getMaxParticles() const;

    bool addParticle(const Particle& particle);

    bool addParticle(const Math::Vector3d& position, const Math::Vector3d& velocity, double lifetime);

    void removeParticle(size_t index);

    SurgSim::DataStructures::BufferedValue<Particles>& getParticles();

    void update(double dt);

    void handleCollisions(double dt);

    void setCollisionRepresentation(std::shared_ptr<SurgSim::Collision::Representation> representation);

    std::shared_ptr<SurgSim::Collision::Representation> getCollisionRepresentation() const;

protected:
    virtual bool doUpdate(double dt) = 0;

    virtual bool doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) = 0;

    bool doInitialize() override;

    size_t m_maxParticles;

    SurgSim::DataStructures::BufferedValue<Particles> m_particles;

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;

    std::shared_ptr<SurgSim::Collision::Representation> m_collisionRepresentation;
};

};  // namespace Particles
};  // namespace SurgSim

#endif // SURGSIM_PARTICLES_REPRESENTATION_H