/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * 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
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 */

#include "dart/dynamics/Branch.hpp"
#include "dart/dynamics/BodyNode.hpp"

namespace dart {
namespace dynamics {

//==============================================================================
Branch::Criteria::Criteria(BodyNode* _start) : mStart(_start)
{
  // Do nothing
}

//==============================================================================
std::vector<BodyNode*> Branch::Criteria::satisfy() const
{
  return convert().satisfy();
}

//==============================================================================
Linkage::Criteria Branch::Criteria::convert() const
{
  Linkage::Criteria criteria;
  criteria.mStart.mNode = mStart;
  criteria.mStart.mPolicy = Linkage::Criteria::DOWNSTREAM;

  return criteria;
}

//==============================================================================
Branch::Criteria::operator Linkage::Criteria() const
{
  return convert();
}

//==============================================================================
Branch::Criteria Branch::Criteria::convert(const Linkage::Criteria& criteria)
{
  BodyNodePtr startBodyNode = criteria.mStart.mNode.lock();
  if (!startBodyNode)
  {
    dtwarn << "[Chain::Criteria::convert] Failed in conversion because the "
           << "start node of the input criteria is not valid anymore. Using "
           << "the returning Criteria will lead to creating an empty Branch.\n";
    return Branch::Criteria(nullptr);
  }

  return Branch::Criteria(startBodyNode.get());
}

//==============================================================================
BranchPtr Branch::create(
    const Branch::Criteria& _criteria, const std::string& _name)
{
  BranchPtr branch(new Branch(_criteria, _name));
  branch->mPtr = branch;
  return branch;
}

//==============================================================================
BranchPtr Branch::cloneBranch() const
{
  return cloneBranch(getName());
}

//==============================================================================
BranchPtr Branch::cloneBranch(const std::string& cloneName) const
{
  // Clone the skeleton (assuming one skeleton is involved)
  BodyNodePtr bodyNode = mCriteria.mStart.mNode.lock();
  if (!bodyNode)
  {
    dtwarn << "[Branch::cloneMetaSkeleton] Failed to clone because the "
           << "start node of the criteria in this Branch is not valid anymore. "
           << "Returning nullptr.\n";
    return nullptr;
  }
  SkeletonPtr skelClone = bodyNode->getSkeleton()->cloneSkeleton();

  // Create a Criteria
  Criteria newCriteria = Criteria::convert(mCriteria);
  assert(newCriteria.mStart.lock());
  newCriteria.mStart
      = skelClone->getBodyNode(newCriteria.mStart.lock()->getName());

  // Create a Branch clone with the Criteria
  BranchPtr newBranch = create(newCriteria, cloneName);

  return newBranch;
}

//==============================================================================
MetaSkeletonPtr Branch::cloneMetaSkeleton(const std::string& cloneName) const
{
  return cloneBranch(cloneName);
}

//==============================================================================
bool Branch::isStillBranch() const
{
  if (!isAssembled())
    return false;

  for (std::size_t i = 0; i < mBodyNodes.size(); ++i)
  {
    BodyNode* bn = mBodyNodes[i];
    if (bn->getNumChildBodyNodes() != mNumChildNodes[i])
      return false;
  }

  return true;
}

//==============================================================================
Branch::Branch(const Branch::Criteria& _criteria, const std::string& _name)
  : Linkage(_criteria, _name)
{
  update();
}

//==============================================================================
void Branch::update()
{
  Linkage::update();

  mNumChildNodes.clear();
  mNumChildNodes.reserve(mBodyNodes.size());
  for (std::size_t i = 0; i < mBodyNodes.size(); ++i)
  {
    mNumChildNodes.push_back(mBodyNodes[i]->getNumChildBodyNodes());
  }
}

} // namespace dynamics
} // namespace dart
