imstkComponent.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkLogger.h"
#include "imstkMacros.h"
#include "imstkTaskGraph.h"

namespace imstk
{
class Entity;

class Component
{
friend class Entity;

protected:
    Component(const std::string& name = "Component") : m_name(name) { }

public:
    virtual ~Component() = default;

    const std::string& getName() const { return m_name; }
    void setName(const std::string& name) { m_name = name; }

    std::weak_ptr<Entity> getEntity() const { return m_entity; }

    void initialize();

protected:
    virtual void init() { }

    std::string m_name;
    std::weak_ptr<Entity> m_entity;
};

template<typename UpdateInfo>
class Behaviour : public Component
{
protected:
    Behaviour(const std::string& name = "Behaviour") : Component(name) { }
    Behaviour(const bool useTaskGraph, const std::string& name = "Behaviour") : Component(name)
    {
        if (useTaskGraph)
        {
            m_taskGraph = std::make_shared<TaskGraph>();

            // Set default names
            m_taskGraph->getSource()->m_name = "Behavior_Source";
            m_taskGraph->getSink()->m_name   = "Behavior_Sink";
        }
    }

public:
    ~Behaviour() override = default;

    virtual void update(const UpdateInfo& imstkNotUsed(updateData)) { }
    virtual void visualUpdate(const UpdateInfo& imstkNotUsed(updateData)) { }

    void initTaskGraphEdges()
    {
        CHECK(m_taskGraph != nullptr) << "Tried to setup task graph edges but no TaskGraph exists";
        m_taskGraph->clearEdges();
        initGraphEdges(m_taskGraph->getSource(), m_taskGraph->getSink());
    }

    std::shared_ptr<TaskGraph> getTaskGraph() const { return m_taskGraph; }

protected:
    //     /// \param source, first node of the graph (does no function)
    virtual void initGraphEdges(std::shared_ptr<TaskNode> imstkNotUsed(source),
                                std::shared_ptr<TaskNode> imstkNotUsed(sink)) { }

    std::shared_ptr<TaskGraph> m_taskGraph = nullptr;
};

using SceneBehaviour = Behaviour<double>;

class LambdaBehaviour : public SceneBehaviour
{
public:
    LambdaBehaviour(const std::string& name = "LambdaBehaviour") : Behaviour(name) { }
    ~LambdaBehaviour() override = default;

    void update(const double& dt) override;
    void visualUpdate(const double& dt) override;

    void setUpdate(std::function<void(const double& dt)> updateFunc) { m_updateFunc = updateFunc; }
    void setVisualUpdate(std::function<void(const double& dt)> updateFunc) { m_visualUpdateFunc = updateFunc; }

protected:
    std::function<void(const double& dt)> m_updateFunc;
    std::function<void(const double& dt)> m_visualUpdateFunc;
};
} // namespace imstk