ArticulatedBody.h

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#pragma once
#include "RigidBodySystem.h"
 
#include "Node/ParametricModel.h"
 
#include "Topology/TriangleSet.h"
#include "Topology/TextureMesh.h"
 
#include "Field/FilePath.h"
 
namespace dyno 
{
    template<typename TDataType>
    class ArticulatedBody : virtual public ParametricModel<TDataType>, virtual public RigidBodySystem<TDataType>
    {
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix;
        typedef typename ::dyno::Pair<uint, uint> BindingPair;
 
        ArticulatedBody();
        ~ArticulatedBody() override;
 
        //Bind rigid body to a shape in TextureMesh
        void bindShape(std::shared_ptr<PdActor> actor, Pair<uint, uint> shapeId);
 
    public:
        DEF_VAR(FilePath, FilePath, "", "");

        DEF_VAR(std::vector<Transform3f>, VehiclesTransform, std::vector<Transform3f>{Transform3f()}, "");
 
        DEF_INSTANCE_STATE(TextureMesh, TextureMesh, "Texture mesh of the vechicle");
 
    public:
        DEF_ARRAYLIST_STATE(Transform3f, InstanceTransform, DeviceType::GPU, "Instance transforms");
 
        DEF_ARRAY_STATE(BindingPair, BindingPair, DeviceType::GPU, "");
 
        DEF_ARRAY_STATE(int, BindingTag, DeviceType::GPU, "");
 
    protected:
        void resetStates() override;
 
        void updateStates() override;
 
        void updateInstanceTransform();
 
        void clearVechicle();
 
        void transform();
 
        void varChanged();
 
    protected:
 
        std::vector<Quat<Real>> getInstanceRotation() 
        {
            std::vector<Quat<Real>> instanceQ;
 
            auto instances = this->varVehiclesTransform()->getValue();
 
            for (auto it : instances)
            {
                auto rot = it.rotation();
                instanceQ.push_back(Quat<Real>(rot));
            }
 
            return instanceQ;
        }
 
    private:
        std::vector<Pair<uint, uint>> mBindingPair;
 
        std::vector<std::shared_ptr<PdActor>> mActors;
    };
 
 
}