BodyPart.h

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#pragma once

#include "RobotPartInterface.h"

namespace AnimatSim
{
        namespace Environment
        {
                class ANIMAT_PORT BodyPart : public Node, public MovableItem
                {
                protected:
                        IPhysicsBody *m_lpPhysicsBody;

            CStdArray<RobotPartInterface *> m_aryRobotParts;

                        bool m_bSynchWithRobot;

                        float m_fltSynchUpdateInterval;

                        int m_iSynchUpdateInterval;

                        int m_iSynchCount;

                        virtual void UpdateData();

                public:
                        BodyPart(void);
                        virtual ~BodyPart(void);
                                                                                                                                        
                        static BodyPart *CastToDerived(AnimatBase *lpBase) {return static_cast<BodyPart*>(lpBase);}

#pragma region AccessorMutators

                        virtual IPhysicsBody *PhysicsBody();
                        virtual void PhysicsBody(IPhysicsBody *lpBody);

            virtual CStdArray<RobotPartInterface *> *GetRobotPartInterfaces();
            virtual void AddRobotPartInterface(RobotPartInterface *lpPart);
            virtual void RemoveRobotPartInterface(RobotPartInterface *lpPart);
                        virtual int FindRobotPartListIndex(std::string strID, bool bThrowError = true);

                        virtual bool SynchWithRobot();
                        virtual void SynchWithRobot(bool bVal);

                        virtual float SynchUpdateInterval();
                        virtual void SynchUpdateInterval(float fltVal);

                        virtual void Resize();

#pragma endregion

#pragma region DataAccesMethods

                        virtual void SetSystemPointers(Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify);
                        virtual float *GetDataPointer(const std::string &strDataType);
                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
            virtual void UpdateExtraData();
                        virtual bool NeedsRobotSynch();

#pragma endregion

                        virtual void Initialize();
                        virtual void ResetSimulation();
                        virtual void TimeStepModified();
                        virtual void Selected(bool bValue, bool bSelectMultiple); 
                        virtual void AddBodyClicked(float fltPosX, float fltPosY, float fltPosZ, float fltNormX, float fltNormY, float fltNormZ);
                        virtual void VisualSelectionModeChanged(int iNewMode);
                        virtual void UpdatePhysicsPosFromGraphics();
            virtual void WakeDynamics();

                        virtual void Load(CStdXml &oXml);
                };

        }                       // Environment
}                               //AnimatSim