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#ifndef DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
#define DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_

#include <Eigen/Core>
#include "dart/common/Composite.hpp"
#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/ProxyAspect.hpp"
#include "dart/common/RequiresAspect.hpp"

namespace dart {
namespace dynamics {

class Skeleton;

namespace detail {

//==============================================================================
/// The Properties of this Skeleton which are independent of the components
/// within the Skeleton, such as its BodyNodes and Joints. This does not
/// include any Properties of the Skeleton's Aspects.
struct SkeletonAspectProperties
{
  /// Name of the Skeleton
  std::string mName;

  /// If the skeleton is not mobile, its dynamic effect is equivalent
  /// to having infinite mass. If the configuration of an immobile skeleton is
  /// manually changed, the collision results might not be correct.
  bool mIsMobile;

  /// Gravity vector.
  Eigen::Vector3d mGravity;

  /// Time step for implicit joint damping force.
  double mTimeStep;

  /// True if self collision check is enabled. Use mEnabledAdjacentBodyCheck
  /// to disable collision checks between adjacent bodies.
  bool mEnabledSelfCollisionCheck;

  /// True if self collision check is enabled, including adjacent bodies.
  /// Note: If mEnabledSelfCollisionCheck is false, then this value will be
  /// ignored.
  bool mEnabledAdjacentBodyCheck;

  /// Default constructor
  SkeletonAspectProperties(
      const std::string& _name = "Skeleton",
      bool _isMobile = true,
      const Eigen::Vector3d& _gravity = Eigen::Vector3d(0.0, 0.0, -9.81),
      double _timeStep = 0.001,
      bool _enabledSelfCollisionCheck = false,
      bool _enableAdjacentBodyCheck = false);

  virtual ~SkeletonAspectProperties() = default;
};

//==============================================================================
using BodyNodeStateVector = std::vector<common::Composite::State>;
using BodyNodePropertiesVector = std::vector<common::Composite::Properties>;
using JointStateVector = std::vector<common::Composite::State>;
using JointPropertiesVector = std::vector<common::Composite::Properties>;

//==============================================================================
void setAllBodyNodeStates(Skeleton* skel, const BodyNodeStateVector& states);

//==============================================================================
BodyNodeStateVector getAllBodyNodeStates(const Skeleton* skel);

//==============================================================================
void setAllBodyNodeProperties(
    Skeleton* skel, const BodyNodePropertiesVector& properties);

//==============================================================================
BodyNodePropertiesVector getAllBodyNodeProperties(const Skeleton* skel);

//==============================================================================
using BodyNodeVectorProxyAspectState = common::ProxyCloneable<
    common::Aspect::State,
    Skeleton,
    BodyNodeStateVector,
    &setAllBodyNodeStates,
    &getAllBodyNodeStates>;

//==============================================================================
using BodyNodeVectorProxyAspectProperties = common::ProxyCloneable<
    common::Aspect::Properties,
    Skeleton,
    BodyNodePropertiesVector,
    &setAllBodyNodeProperties,
    &getAllBodyNodeProperties>;

//==============================================================================
using BodyNodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
    Skeleton,
    BodyNodeVectorProxyAspectState,
    BodyNodeVectorProxyAspectProperties>;

//==============================================================================
void setAllJointStates(Skeleton* skel, const JointStateVector& states);

//==============================================================================
JointStateVector getAllJointStates(const Skeleton* skel);

//==============================================================================
void setAllJointProperties(
    Skeleton* skel, const JointPropertiesVector& properties);

//==============================================================================
JointPropertiesVector getAllJointProperties(const Skeleton* skel);

//==============================================================================
using JointVectorProxyAspectState = common::ProxyCloneable<
    common::Aspect::State,
    Skeleton,
    JointStateVector,
    &setAllJointStates,
    &getAllJointStates>;

//==============================================================================
using JointVectorProxyAspectProperties = common::ProxyCloneable<
    common::Aspect::Properties,
    Skeleton,
    JointPropertiesVector,
    &setAllJointProperties,
    &getAllJointProperties>;

//==============================================================================
using JointVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
    Skeleton,
    JointVectorProxyAspectState,
    JointVectorProxyAspectProperties>;

//==============================================================================
using SkeletonProxyAspects
    = common::RequiresAspect<BodyNodeVectorProxyAspect, JointVectorProxyAspect>;

//==============================================================================
using SkeletonAspectBase = common::EmbedPropertiesOnTopOf<
    Skeleton,
    SkeletonAspectProperties,
    SkeletonProxyAspects>;

} // namespace detail
} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_SKELETONASPECT_HPP_
