tgSimulation.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is 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.
 * 
 * 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.
*/

#ifndef TG_SIMULATION_H
#define TG_SIMULATION_H

// The C++ Standard Library
#include <iostream>
#include <vector>

// Forward declarations
class tgModel;
class tgModelVisitor;
class tgSimView;
class tgWorld;
class tgGround;
class tgDataManager;

class tgSimulation
{
public:

    tgSimulation(tgSimView& view);

    ~tgSimulation();

    void step(double dt) const; 

    void run() const;

    void run(int steps) const;

    void addModel(tgModel* pModel);
    
    void addObstacle(tgModel* pObstacle);

    void addDataManager(tgDataManager* pDataManager);
    
    void onVisit(const tgModelVisitor& r) const;
    
    void reset();

    void reset(tgGround* newGround);
    
    tgWorld& getWorld() const;

 private:
    
    void teardown();

    bool invariant() const;

private:

    tgSimView& m_view;

    std::vector<tgModel*> m_models;
    
    std::vector<tgModel*> m_obstacles;

    std::vector<tgDataManager*> m_dataManagers;
};

#endif  // TG_SIMULATION_H