imstkDynamicalModel.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 "imstkAbstractDynamicalModel.h"

namespace imstk
{
template<class StateType>
class DynamicalModel : public AbstractDynamicalModel
{
public:
    DynamicalModel(DynamicalModelType type = DynamicalModelType::None) : AbstractDynamicalModel(type),
        m_initialState(std::make_shared<StateType>()),
        m_currentState(std::make_shared<StateType>()),
        m_previousState(std::make_shared<StateType>())
    {
    }

    ~DynamicalModel() override = default;

    std::shared_ptr<StateType> getInitialState() const { return m_initialState; }

    std::shared_ptr<StateType> getCurrentState() const { return m_currentState; }

    std::shared_ptr<StateType> getPreviousState() const { return m_previousState; }

    void resetToInitialState() override
    {
        m_currentState->setState(m_initialState);
        m_previousState->setState(m_initialState);
    }

protected:
    // Body states
    std::shared_ptr<StateType> m_initialState;  
    std::shared_ptr<StateType> m_currentState;  
    std::shared_ptr<StateType> m_previousState; 
};
} // namespace imstk