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 * Copyright (c) 2011-2019, The DART development contributors
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#ifndef DART_DYNAMICS_NODEMANAGERJOINER_HPP_
#define DART_DYNAMICS_NODEMANAGERJOINER_HPP_

#include <string>

#include "dart/common/Empty.hpp"

namespace dart {
namespace dynamics {

//==============================================================================
/// Declaration of the variadic template
template <class... OtherBases>
class NodeManagerJoinerForBodyNode
{
};

//==============================================================================
/// Special case of only having 1 class: we do nothing but inherit it.
template <class Base1>
class NodeManagerJoinerForBodyNode<Base1> : public Base1
{
};

//==============================================================================
/// NodeManagerJoiner allows classes that inherit from various
/// SpecializedNodeManager types to be inherited by a single derived class. This
/// class solved the diamond-of-death problem for multiple
/// SpecializedNodeManager inheritance.
template <class Base1, class Base2>
class NodeManagerJoinerForBodyNode<Base1, Base2> : public Base1, public Base2
{
public:
  /// Default constructor
  NodeManagerJoinerForBodyNode() = default;

  /// This constructor allows one argument to be passed to the Base1 constructor
  /// and arbitrarily many arguments to be passed to the Base2 constructor.
  template <typename Base1Arg, typename... Base2Args>
  NodeManagerJoinerForBodyNode(Base1Arg&& arg1, Base2Args&&... args2);

  /// This constructor passes one argument to the Base1 constructor and no
  /// arguments to the Base2 constructor.
  template <typename Base1Arg>
  NodeManagerJoinerForBodyNode(Base1Arg&& arg1, common::NoArgTag);

  /// This constructor passes no arguments to the Base1 constructor and
  /// arbitrarily many arguments to the Base2 constructor.
  template <typename... Base2Args>
  NodeManagerJoinerForBodyNode(common::NoArgTag, Base2Args&&... args2);

  template <class NodeType>
  std::size_t getNumNodes() const;

  template <class NodeType>
  NodeType* getNode(std::size_t index);

  template <class NodeType>
  const NodeType* getNode(std::size_t index) const;

  template <class NodeType>
  static constexpr bool isSpecializedForNode();
};

//==============================================================================
/// This is the variadic version of the NodeManagerJoinerForBodyNode class which
/// allows you to include arbitrarily many base classes in the joining.
template <class Base1, class Base2, class... OtherBases>
class NodeManagerJoinerForBodyNode<Base1, Base2, OtherBases...>
  : public NodeManagerJoinerForBodyNode<
        Base1,
        NodeManagerJoinerForBodyNode<Base2, OtherBases...> >
{
public:
  NodeManagerJoinerForBodyNode() = default;

  template <typename... Args>
  NodeManagerJoinerForBodyNode(Args&&... args);
};

//==============================================================================
/// Declaration of variadic template
template <class... OtherBases>
class NodeManagerJoinerForSkeleton
{
};

//==============================================================================
/// Special case of only having 1 class: we do nothing but inherit it
template <class Base1>
class NodeManagerJoinerForSkeleton<Base1> : public Base1
{
};

//==============================================================================
template <class Base1, class Base2>
class NodeManagerJoinerForSkeleton<Base1, Base2>
  : public NodeManagerJoinerForBodyNode<Base1, Base2>
{
public:
  using Base = NodeManagerJoinerForBodyNode<Base1, Base2>;
  using Base::getNode;
  using Base::getNumNodes;
  using Base::isSpecializedForNode;

  /// Default constructor
  NodeManagerJoinerForSkeleton() = default;

  /// Forwards construction to NodeManagerJoinerForBodyNode
  template <typename... Args>
  NodeManagerJoinerForSkeleton(Args&&... args);

  /// Get the number of Nodes of the specified type that are in the treeIndexth
  /// tree of this Skeleton
  template <class NodeType>
  std::size_t getNumNodes(std::size_t treeIndex) const;

  /// Get the nodeIndexth Node of the specified type within the tree of
  /// treeIndex.
  template <class NodeType>
  NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex);

  /// Get the nodeIndexth Node of the specified type within the tree of
  /// treeIndex.
  template <class NodeType>
  const NodeType* getNode(std::size_t treeIndex, std::size_t nodeIndex) const;

  /// Get the Node of the specified type with the given name.
  template <class NodeType>
  NodeType* getNode(const std::string& name);

  /// Get the Node of the specified type with the given name.
  template <class NodeType>
  const NodeType* getNode(const std::string& name) const;
};

//==============================================================================
/// This is the variadic version of the NodeManagerJoinerForSkeleton class which
/// allows you to include arbitrarily many base classes in the joining.
template <class Base1, class Base2, class... OtherBases>
class NodeManagerJoinerForSkeleton<Base1, Base2, OtherBases...>
  : public NodeManagerJoinerForSkeleton<
        Base1,
        NodeManagerJoinerForSkeleton<Base2, OtherBases...> >
{
public:
  NodeManagerJoinerForSkeleton() = default;

  template <typename... Args>
  NodeManagerJoinerForSkeleton(Args&&... args);
};

} // namespace dynamics
} // namespace dart

#include "dart/dynamics/detail/NodeManagerJoiner.hpp"

#endif // DART_DYNAMICS_NODEMANAGERJOINER_HPP_
