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#ifndef DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_
#define DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_

#include "dart/dynamics/SpecializedNodeManager.hpp"

namespace dart {
namespace dynamics {

// This preprocessor token should only be used by the unittest that is
// responsible for checking that the specialized routines are being used to
// access specialized Aspects
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
bool usedSpecializedNodeAccess;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

//==============================================================================
template <class SpecNode>
BodyNodeSpecializedFor<SpecNode>::BodyNodeSpecializedFor()
{
  mNodeMap[typeid(SpecNode)] = std::vector<Node*>();
  mSpecNodeIterator = mNodeMap.find(typeid(SpecNode));
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
std::size_t BodyNodeSpecializedFor<SpecNode>::getNumNodes() const
{
  return _getNumNodes(type<NodeType>());
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* BodyNodeSpecializedFor<SpecNode>::getNode(std::size_t index)
{
  return _getNode(type<NodeType>(), index);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
const NodeType* BodyNodeSpecializedFor<SpecNode>::getNode(
    std::size_t index) const
{
  return const_cast<BodyNodeSpecializedFor<SpecNode>*>(this)->_getNode(
      type<NodeType>(), index);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
constexpr bool BodyNodeSpecializedFor<SpecNode>::isSpecializedForNode()
{
  return _isSpecializedForNode(type<NodeType>());
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
std::size_t BodyNodeSpecializedFor<SpecNode>::_getNumNodes(type<NodeType>) const
{
  return detail::BasicNodeManagerForBodyNode::getNumNodes<NodeType>();
}

//==============================================================================
template <class SpecNode>
std::size_t BodyNodeSpecializedFor<SpecNode>::_getNumNodes(type<SpecNode>) const
{
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
  usedSpecializedNodeAccess = true;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

  return mSpecNodeIterator->second.size();
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* BodyNodeSpecializedFor<SpecNode>::_getNode(
    type<NodeType>, std::size_t index)
{
  return detail::BasicNodeManagerForBodyNode::getNode<NodeType>(index);
}

//==============================================================================
template <class SpecNode>
SpecNode* BodyNodeSpecializedFor<SpecNode>::_getNode(
    type<SpecNode>, std::size_t index)
{
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
  usedSpecializedNodeAccess = true;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

  return static_cast<SpecNode*>(
      getVectorObjectIfAvailable(index, mSpecNodeIterator->second));
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
constexpr bool BodyNodeSpecializedFor<SpecNode>::_isSpecializedForNode(
    type<NodeType>)
{
  return false;
}

//==============================================================================
template <class SpecNode>
constexpr bool BodyNodeSpecializedFor<SpecNode>::_isSpecializedForNode(
    type<SpecNode>)
{
  return true;
}

//==============================================================================
template <class SpecNode>
SkeletonSpecializedFor<SpecNode>::SkeletonSpecializedFor()
{
  mSpecializedTreeNodes[typeid(SpecNode)] = &mTreeSpecNodeIterators;

  mNodeNameMgrMap[typeid(SpecNode)] = common::NameManager<Node*>();
  mSpecNodeNameMgrIterator = mNodeNameMgrMap.find(typeid(SpecNode));
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
std::size_t SkeletonSpecializedFor<SpecNode>::getNumNodes(
    std::size_t treeIndex) const
{
  return _getNumNodes(type<NodeType>(), treeIndex);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* SkeletonSpecializedFor<SpecNode>::getNode(
    std::size_t treeIndex, std::size_t nodeIndex)
{
  return _getNode(type<NodeType>(), treeIndex, nodeIndex);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
const NodeType* SkeletonSpecializedFor<SpecNode>::getNode(
    std::size_t treeIndex, std::size_t nodeIndex) const
{
  return const_cast<SkeletonSpecializedFor<SpecNode>*>(this)->_getNode(
      type<NodeType>(), treeIndex, nodeIndex);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* SkeletonSpecializedFor<SpecNode>::getNode(const std::string& name)
{
  return _getNode(type<NodeType>(), name);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
const NodeType* SkeletonSpecializedFor<SpecNode>::getNode(
    const std::string& name) const
{
  return const_cast<SkeletonSpecializedFor<SpecNode>*>(this)->_getNode(
      type<NodeType>(), name);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
constexpr bool SkeletonSpecializedFor<SpecNode>::isSpecializedForNode()
{
  return _isSpecializedForNode(type<NodeType>());
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
std::size_t SkeletonSpecializedFor<SpecNode>::_getNumNodes(
    type<NodeType>, std::size_t treeIndex) const
{
  return detail::BasicNodeManagerForSkeleton::getNumNodes<NodeType>(treeIndex);
}

//==============================================================================
template <class SpecNode>
std::size_t SkeletonSpecializedFor<SpecNode>::_getNumNodes(
    type<SpecNode>, std::size_t treeIndex) const
{
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
  usedSpecializedNodeAccess = true;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

  if (treeIndex >= mTreeNodeMaps.size())
  {
    dterr << "[Skeleton::getNumNodes<" << typeid(SpecNode).name() << ">] "
          << "Requested tree index (" << treeIndex << "), but there are only ("
          << mTreeNodeMaps.size() << ") trees available\n";
    assert(false);
    return 0;
  }

  return mTreeSpecNodeIterators[treeIndex]->second.size();
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* SkeletonSpecializedFor<SpecNode>::_getNode(
    type<NodeType>, std::size_t treeIndex, std::size_t nodeIndex)
{
  return detail::BasicNodeManagerForSkeleton::getNode<NodeType>(
      treeIndex, nodeIndex);
}

//==============================================================================
template <class SpecNode>
SpecNode* SkeletonSpecializedFor<SpecNode>::_getNode(
    type<SpecNode>, std::size_t treeIndex, std::size_t nodeIndex)
{
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
  usedSpecializedNodeAccess = true;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

  if (treeIndex >= mTreeNodeMaps.size())
  {
    dterr << "[Skeleton::getNode<" << typeid(SpecNode).name() << ">] "
          << "Requested tree index (" << treeIndex << "), but there are only ("
          << mTreeNodeMaps.size() << ") trees available\n";
    assert(false);
    return nullptr;
  }

  NodeMap::iterator& it = mTreeSpecNodeIterators[treeIndex];

  if (nodeIndex >= it->second.size())
  {
    dterr << "[Skeleton::getNode<" << typeid(SpecNode).name() << ">] "
          << "Requested index (" << nodeIndex << ") within tree (" << treeIndex
          << "), but there are only (" << it->second.size() << ") Nodes of the "
          << "requested type within that tree\n";
    assert(false);
    return nullptr;
  }

  return static_cast<SpecNode*>(it->second[nodeIndex]);
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
NodeType* SkeletonSpecializedFor<SpecNode>::_getNode(
    type<NodeType>, const std::string& name)
{
  return detail::BasicNodeManagerForSkeleton::getNode<NodeType>(name);
}

//==============================================================================
template <class SpecNode>
SpecNode* SkeletonSpecializedFor<SpecNode>::_getNode(
    type<SpecNode>, const std::string& name)
{
#ifdef DART_UNITTEST_SPECIALIZED_NODE_ACCESS
  usedSpecializedNodeAccess = true;
#endif // DART_UNITTEST_SPECIALIZED_NODE_ACCESS

  return static_cast<SpecNode*>(
      mSpecNodeNameMgrIterator->second.getObject(name));
}

//==============================================================================
template <class SpecNode>
template <class NodeType>
constexpr bool SkeletonSpecializedFor<SpecNode>::_isSpecializedForNode(
    type<NodeType>)
{
  return false;
}

//==============================================================================
template <class SpecNode>
constexpr bool SkeletonSpecializedFor<SpecNode>::_isSpecializedForNode(
    type<SpecNode>)
{
  return true;
}

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_SPECIALIZEDNODEMANAGER_HPP_
