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

#include "dart/common/EmbeddedAspect.hpp"
#include "dart/common/ProxyAspect.hpp"
#include "dart/dynamics/Entity.hpp"
#include "dart/dynamics/Inertia.hpp"
#include "dart/dynamics/Node.hpp"

namespace dart {
namespace dynamics {

class Skeleton;

const double DART_DEFAULT_FRICTION_COEFF = 1.0;
const double DART_DEFAULT_RESTITUTION_COEFF = 0.0;

namespace detail {

//==============================================================================
struct BodyNodeState
{
  /// External spatial force
  Eigen::Vector6d mFext;

  BodyNodeState(const Eigen::Vector6d& Fext = Eigen::Vector6d::Zero());

  virtual ~BodyNodeState() = default;

  // To get byte-aligned Eigen vectors
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

//==============================================================================
struct BodyNodeAspectProperties
{
  /// Name of the Entity
  std::string mName;

  /// Inertia information for the BodyNode
  Inertia mInertia;

  /// Indicates whether this node is collidable;
  bool mIsCollidable;

  /// Coefficient of friction
  /// \deprecated Deprecated since DART 6.10. Please set the friction
  /// coefficient per ShapeNode of the BodyNode. This will be removed in the
  /// next major release.
  double mFrictionCoeff;

  /// Coefficient of restitution
  /// \deprecated Deprecated since DART 6.10. Please set the restitution
  /// coefficient per ShapeNode of the BodyNode. This will be removed in the
  /// next major release.
  double mRestitutionCoeff;

  /// Gravity will be applied if true
  bool mGravityMode;

  /// Constructor
  /// \deprecated Deprecated since DART 6.10 because the friction and
  /// restitution properties shouldn't be included in this constructor since
  /// they are deprecated.
  DART_DEPRECATED(6.10)
  BodyNodeAspectProperties(
      const std::string& name,
      const Inertia& _inertia,
      bool _isCollidable,
      double _frictionCoeff,
      double _restitutionCoeff,
      bool _gravityMode);

  /// Constructor
  BodyNodeAspectProperties(
      const std::string& name = "BodyNode",
      const Inertia& inertia = Inertia(),
      bool isCollidable = true,
      bool gravityMode = true);

  virtual ~BodyNodeAspectProperties() = default;
};

//==============================================================================
using NodeTypeStateVector
    = common::CloneableVector<std::unique_ptr<Node::State> >;
using NodeStateMap
    = std::map<std::type_index, std::unique_ptr<NodeTypeStateVector> >;
using AllNodeStates = common::CloneableMap<NodeStateMap>;

//==============================================================================
using NodeTypePropertiesVector
    = common::CloneableVector<std::unique_ptr<Node::Properties> >;
using NodePropertiesMap
    = std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector> >;
using AllNodeProperties = common::CloneableMap<NodePropertiesMap>;

//==============================================================================
void setAllNodeStates(BodyNode* bodyNode, const AllNodeStates& states);

//==============================================================================
AllNodeStates getAllNodeStates(const BodyNode* bodyNode);

//==============================================================================
void setAllNodeProperties(
    BodyNode* bodyNode, const AllNodeProperties& properties);

//==============================================================================
AllNodeProperties getAllNodeProperties(const BodyNode* bodyNode);

//==============================================================================
using NodeVectorProxyAspectState = common::ProxyCloneable<
    common::Aspect::State,
    BodyNode,
    AllNodeStates,
    &setAllNodeStates,
    &getAllNodeStates>;

//==============================================================================
using NodeVectorProxyAspectProperties = common::ProxyCloneable<
    common::Aspect::Properties,
    BodyNode,
    AllNodeProperties,
    &setAllNodeProperties,
    &getAllNodeProperties>;

//==============================================================================
using NodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect<
    BodyNode,
    NodeVectorProxyAspectState,
    NodeVectorProxyAspectProperties>;

//==============================================================================
using BodyNodeCompositeBase = common::EmbedStateAndPropertiesOnTopOf<
    BodyNode,
    BodyNodeState,
    BodyNodeAspectProperties,
    common::RequiresAspect<NodeVectorProxyAspect> >;

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

#endif // DART_DYNAMICS_DETAIL_BODYNODEASPECT_HPP_
