/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
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 *     disclaimer in the documentation and/or other materials provided
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#ifndef DART_DYNAMICS_DETAIL_SKELETON_HPP_
#define DART_DYNAMICS_DETAIL_SKELETON_HPP_

#include "dart/dynamics/Skeleton.hpp"

namespace dart {
namespace dynamics {

//==============================================================================
template <class JointType>
JointType* Skeleton::moveBodyNodeTree(
    BodyNode* _bodyNode,
    const SkeletonPtr& _newSkeleton,
    BodyNode* _parentNode,
    const typename JointType::Properties& _joint)
{
  JointType* parentJoint = new JointType(_joint);

  if (moveBodyNodeTree(parentJoint, _bodyNode, _newSkeleton, _parentNode))
    return parentJoint;

  // If the move failed, we should delete the Joint that we created and return
  // a nullptr.
  delete parentJoint;
  return nullptr;
}

//==============================================================================
template <class JointType>
std::pair<JointType*, BodyNode*> Skeleton::cloneBodyNodeTree(
    const BodyNode* _bodyNode,
    const SkeletonPtr& _newSkeleton,
    BodyNode* _parentNode,
    const typename JointType::Properties& _joint,
    bool _recursive) const
{
  JointType* parentJoint = new JointType(_joint);
  std::pair<Joint*, BodyNode*> root = cloneBodyNodeTree(
      parentJoint, _bodyNode, _newSkeleton, _parentNode, _recursive);
  return std::pair<JointType*, BodyNode*>(parentJoint, root.second);
}

//==============================================================================
template <class JointType, class NodeType>
std::pair<JointType*, NodeType*> Skeleton::createJointAndBodyNodePair(
    BodyNode* _parent,
    const typename JointType::Properties& _jointProperties,
    const typename NodeType::Properties& _bodyProperties)
{
  JointType* joint = new JointType(_jointProperties);
  NodeType* node = new NodeType(_parent, joint, _bodyProperties);
  registerBodyNode(node);

  return std::pair<JointType*, NodeType*>(joint, node);
}

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_SKELETON_HPP_
