physics/SpatialGroup

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: SpatialGroup 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_SPATIALGROUP_
#define _PHYSICS_SPATIALGROUP_

#include <physics/physics>

#include <base/ReferencedObject>
#include <base/Named>
#include <physics/Spatial>

#include <base/reflist>
#include <physics/Body>


namespace physics {

/// A collection of spatial entities
class SpatialGroup : public Spatial
{
public:
  SpatialGroup();
  SpatialGroup(const String& name);
  SpatialGroup(const SpatialGroup& bg);
  virtual ~SpatialGroup();

  virtual String className() const { return String("SpatialGroup"); }

  
  virtual SpatialGroup& operator=(const SpatialGroup& sg);
  
  virtual void setImplicitConfiguration(ref<Spatial> spatial);
  virtual void setExplicitConfiguration(const base::Transform& configuration);
  
  virtual void   setPosition(const Point3& pos);
  virtual Point3 getPosition() const;
  virtual void   setOrientation(const Orient& orient);
  virtual Orient getOrientation() const;
  virtual void setConfiguration(const base::Transform& configuration);

  virtual void add(ref<Spatial> spatial);
  virtual void remove(ref<Spatial> spatial);
  virtual void clear();
  
  typedef base::reflist<Spatial> SpatialList;
  typedef SpatialList::iterator       iterator;
  typedef SpatialList::const_iterator const_iterator;
  
  iterator       begin() { return spatials.begin(); }
  iterator       end()   { return spatials.end(); }
  const_iterator begin() const { return spatials.begin(); }
  const_iterator end() const   { return spatials.end(); }
  
  virtual void updateGroupPositionOrientation(const Point3& pos, const Orient& orient);
  virtual void updateGroupConfiguration(const base::Transform& configuration);
  
protected:
  SpatialList spatials;
  
private:
  bool implicit; ///< if true, the configuration of this group is implicit (i.e. it is that of spatial)

  ref<Spatial> spatial; ///< if implicit, the configuration of this group is the same configuration of this spatial
  
  Point3 position; ///< if explicit, origin of this group (i.e. its position) 
  Orient orient;   ///< if explicit, orientation of this group 
  
  friend std::ostream& operator<<(std::ostream& out, const SpatialGroup& sg);
};
  
  
inline std::ostream& operator<<(std::ostream& out, const SpatialGroup& sg) // Output
{
  SpatialGroup::SpatialList::const_iterator s = sg.spatials.begin();
  SpatialGroup::SpatialList::const_iterator end = sg.spatials.end();
  while (s != end) {
    out << *(*s);
    s++;
  }
  return out;
}
  

} // physics

#endif

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