StaplerBehavior.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, 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 EXAMPLES_STAPLING_STAPLERBEHAVIOR_H
#define EXAMPLES_STAPLING_STAPLERBEHAVIOR_H

#include <array>
#include <memory>
#include <string>
#include <unordered_map>

#include "SurgSim/Framework/Behavior.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Collision/Representation.h"

namespace SurgSim
{

namespace DataStructures
{
struct Location;
}

namespace Framework
{
class Representation;
}

namespace Graphics
{
class SceneryRepresentation;
}

namespace Input
{
class InputComponent;
}

namespace Physics
{
class Constraint;
}

}

SURGSIM_STATIC_REGISTRATION(StaplerBehavior);

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

    SURGSIM_CLASSNAME(StaplerBehavior);

    void setInputComponent(std::shared_ptr<SurgSim::Framework::Component> inputComponent);

    std::shared_ptr<SurgSim::Input::InputComponent> getInputComponent();

    void setRepresentation(std::shared_ptr<SurgSim::Framework::Component> staplerRepresentation);

    std::shared_ptr<SurgSim::Framework::Representation> getRepresentation();

    void update(double dt) override;

    int getTargetManagerType() const override;

    void setVirtualTeeth(const std::array<std::shared_ptr<SurgSim::Collision::Representation>, 2>& virtualTeeth);

    const std::array<std::shared_ptr<SurgSim::Collision::Representation>, 2>& getVirtualTeeth();

    void enableStaplingForSceneElement(const std::string& sceneElementName);

    void setStapleEnabledSceneElements(const std::list<std::string>& stapleEnabledSceneElements);

    const std::list<std::string>& getStapleEnabledSceneElements();

protected:
    bool doInitialize() override;

    bool doWakeUp() override;

private:
    void filterCollisionMapForStapleEnabledRepresentations(SurgSim::Collision::ContactMapType *collisionsMap);

    std::shared_ptr<SurgSim::Physics::Representation> findCorrespondingPhysicsRepresentation(
        std::shared_ptr<SurgSim::Collision::Representation> collisionRepresentation);

    void filterCollisionMapForSupportedRepresentationTypes(SurgSim::Collision::ContactMapType* collisionsMap);

    void createStaple();

    std::shared_ptr<SurgSim::Input::InputComponent> m_from;

    std::shared_ptr<SurgSim::Framework::Representation> m_representation;

    int m_numElements;

    int m_button1Index;

    bool m_button1IndexCached;

    bool m_buttonPreviouslyPressed;

    std::array<std::shared_ptr<SurgSim::Collision::Representation>, 2> m_virtualTeeth;

    std::list<std::string> m_stapleEnabledSceneElements;
};

#endif  // EXAMPLES_STAPLING_STAPLERBEHAVIOR_H