/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#pragma once

#include "imstkMath.h"
#include "imstkVecDataArray.h"

namespace imstk
{
class PointSet;

///
/// \class PbdState
///
/// \brief State of the body governed by PBD mathematical model
///
class PbdState
{
public:
    PbdState(const int numElements) :
        m_pos(std::make_shared<VecDataArray<double, 3>>(numElements)),
        m_vel(std::make_shared<VecDataArray<double, 3>>(numElements)),
        m_acc(std::make_shared<VecDataArray<double, 3>>(numElements))
    {
        std::fill_n(m_pos->getPointer(), numElements, Vec3d::Zero());
        std::fill_n(m_vel->getPointer(), numElements, Vec3d::Zero());
        std::fill_n(m_acc->getPointer(), numElements, Vec3d::Zero());
    }

    virtual ~PbdState() = default;

    ///
    /// \brief Returns the vector of current nodal accelerations
    ///
    std::shared_ptr<VecDataArray<double, 3>> getAccelerations() { return m_acc; }

    ///
    /// \brief Returns the vector of current nodal positions
    ///
    std::shared_ptr<VecDataArray<double, 3>> getPositions() { return m_pos; }

    ///
    /// \brief Returns the vector of current nodal velocities
    ///
    std::shared_ptr<VecDataArray<double, 3>> getVelocities() { return m_vel; }

    ///
    /// \brief Set the vector for accelerations
    ///
    void setAccelerations(std::shared_ptr<VecDataArray<double, 3>> accelerations) { m_acc = accelerations; }

    ///
    /// \brief Sets the vector that stores the positions
    ///
    void setPositions(std::shared_ptr<VecDataArray<double, 3>> positions) { m_pos = positions; }

    ///
    /// \brief Set the vector for velocities
    ///
    void setVelocities(std::shared_ptr<VecDataArray<double, 3>> velocities) { m_vel = velocities; }

    ///
    /// \brief Set the state to a given one, copies vector values by value instead of references
    ///
    void setState(std::shared_ptr<PbdState> rhs);

private:
    std::shared_ptr<VecDataArray<double, 3>> m_pos;   ///> Nodal positions
    std::shared_ptr<VecDataArray<double, 3>> m_vel;   ///> Nodal velocities
    std::shared_ptr<VecDataArray<double, 3>> m_acc;   ///> Nodal acelerations
};
} // namespace imstk